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orin32Choice.groovyeditsrc/org/orin/orin32Choice.groovysrc/org/orin/orin64Choice.groovy28bec222825c09c18be946936ffea179d9e44af11788924029000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orin64Choice.groovy 2026-09-09 03:20:29 +000028bec222825c09c18be946936ffea179d9e44af1Update orin64Choice.groovyeditsrc/org/orin/orin64Choice.groovysrc/org/orin/orinModule32Choice.groovy087d6b9919fc0132969bf7d8c7d337421257ce0d1788924324000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule32Choice.groovy 2026-09-09 03:25:24 +0000087d6b9919fc0132969bf7d8c7d337421257ce0dUpdate orinModule32Choice.groovyeditsrc/org/orin/orinModule32Choice.groovysrc/org/orin/orinModule64Choice.groovy2395f677689651ff08c5d92fb481fa8d477f94eb1788924380000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinModule64Choice.groovy 2026-09-09 03:26:20 +00002395f677689651ff08c5d92fb481fa8d477f94ebUpdate orinModule64Choice.groovyeditsrc/org/orin/orinModule64Choice.groovysrc/org/orin/repoinfoRos2.groovy54e28952f71b9d1ad5306ba1313dd21644c99e2b1788925106000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate repoinfoRos2.groovy 2026-09-09 03:38:26 +000054e28952f71b9d1ad5306ba1313dd21644c99e2bUpdate repoinfoRos2.groovyeditsrc/org/orin/repoinfoRos2.groovysrc/org/orin/orinRos2Choice.groovy516a3fa1c8ae11dafc3f32b5af0122208d8434951788925229000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2Choice.groovy 2026-09-09 03:40:29 +0000516a3fa1c8ae11dafc3f32b5af0122208d843495Update orinRos2Choice.groovyeditsrc/org/orin/orinRos2Choice.groovysrc/org/orin/orinRos2ModuleChoice.groovy11ed2ee5a9d2c55a8850aee967e71310836e93e61788925310000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate orinRos2ModuleChoice.groovy 2026-09-09 03:41:50 +000011ed2ee5a9d2c55a8850aee967e71310836e93e6Update orinRos2ModuleChoice.groovyeditsrc/org/orin/orinRos2ModuleChoice.groovygitparams/hangzhou-xiasha-submodule.jenkinsfile3ae46184796885dc985c98d396d5c27427e778291788850214000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate hangzhou-xiasha-submodule.jenkinsfile 2026-09-08 06:50:14 +00003ae46184796885dc985c98d396d5c27427e77829Update hangzhou-xiasha-submodule.jenkinsfileeditparams/hangzhou-xiasha-submodule.jenkinsfileparams/wuhan-zhongtielianji-submodule.jenkinsfile4a980212c5e7e8095bbc978b5574ca1c04e646fa1788860246000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate wuhan-zhongtielianji-submodule.jenkinsfile 2026-09-08 09:37:26 +00004a980212c5e7e8095bbc978b5574ca1c04e646faUpdate wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfilehdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfilehardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile 2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfilehardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile 2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfilehardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile 2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfilepython-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfilesystem-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile 2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfilegitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.ccssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppplan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.hssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.hdata/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.hdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpphmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txtssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpptasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.hssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsvtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.protodata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpphmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.hdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.ccdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppgitdata/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator. 2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug. 2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txtdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hppnode/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hppdata/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.mdalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppcommon/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txtdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppdata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cppdata/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txttest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp.gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txtconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txtdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppdata/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.mddata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppdata/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.pynode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignoredata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 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wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfilehdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfilehardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile 2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfilehardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile 2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfilehardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile 2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfilepython-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfilesystem-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile 2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfilegitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.ccssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppplan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.hssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.hdata/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.hdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpphmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txtssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpptasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.hssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsvtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.protodata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpphmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.hdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.ccdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppgitdata/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator. 2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug. 2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txtdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hppnode/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hppdata/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.mdalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppcommon/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txtdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppdata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cppdata/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txttest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp.gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txtconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txtdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppdata/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.mddata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppdata/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.pynode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignoredata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 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wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfilehdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfilehardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile 2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfilehardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile 2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfilehardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile 2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfilepython-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfilesystem-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile 2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfilegitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.ccssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppplan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.hssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.hdata/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.hdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpphmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txtssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpptasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.hssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsvtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.protodata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpphmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.hdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.ccdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppgitdata/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator. 2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug. 2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txtdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hppnode/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hppdata/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.mdalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppcommon/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txtdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppdata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cppdata/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txttest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp.gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txtconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txtdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppdata/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.mddata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppdata/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.pynode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignoredata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 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wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfilehdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfilehardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile 2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfilehardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile 2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfilehardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile 2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfilepython-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfilesystem-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile 2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfilegitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.ccssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppplan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.hssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.hdata/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.hdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpphmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txtssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpptasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.hssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsvtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.protodata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpphmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.hdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.ccdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppgitdata/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator. 2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug. 2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txtdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hppnode/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hppdata/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.mdalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppcommon/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txtdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppdata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cppdata/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txttest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp.gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txtconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txtdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppdata/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.mddata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppdata/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.pynode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignoredata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 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wuhan-zhongtielianji-submodule.jenkinsfileeditparams/wuhan-zhongtielianji-submodule.jenkinsfilehdmap/map-png.jenkinsfile7d37fd5915161361d9049489ef033b71804ce4ea1788860834000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate map-png.jenkinsfile 2026-09-08 09:47:14 +00007d37fd5915161361d9049489ef033b71804ce4eaUpdate map-png.jenkinsfileedithdmap/map-png.jenkinsfilehardware/mizar.jenkinsfile6379485af18b5e6d37f19ae9bd2c486b7ff9380d1788860911000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate mizar.jenkinsfile 2026-09-08 09:48:31 +00006379485af18b5e6d37f19ae9bd2c486b7ff9380dUpdate mizar.jenkinsfileedithardware/mizar.jenkinsfilehardware/polaris.jenkinsfile1565c36c0fa4de7378b90cf8fa740b358bf159251788860963000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate polaris.jenkinsfile 2026-09-08 09:49:23 +00001565c36c0fa4de7378b90cf8fa740b358bf15925Update polaris.jenkinsfileedithardware/polaris.jenkinsfilehardware/tc397_ota.jenkinsfile3c9b36765621d8186ebaf18d8d8bb55ba60c20401788861010000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate tc397_ota.jenkinsfile 2026-09-08 09:50:10 +00003c9b36765621d8186ebaf18d8d8bb55ba60c2040Update tc397_ota.jenkinsfileedithardware/tc397_ota.jenkinsfilepython-scripts.jenkinsfilec8c69fad6896c13f224d614fd4526cc9e1bf92b11788861087000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate python-scripts.jenkinsfile 2026-09-08 09:51:27 +0000c8c69fad6896c13f224d614fd4526cc9e1bf92b1Update python-scripts.jenkinsfileeditpython-scripts.jenkinsfilesystem-libraries.jenkinsfile1d793807e734fe12a0d901d14b202aa94570a3a21788861197000http://159.27.114.184:8080/jenkins/user/weilikangweilikangweilikang@senior.autoUpdate system-libraries.jenkinsfile 2026-09-08 09:53:17 +00001d793807e734fe12a0d901d14b202aa94570a3a2Update system-libraries.jenkinsfileeditsystem-libraries.jenkinsfilegitdata/ssep/open_space_ec.cppf5e3048bcd0597ca0e618895de5849192cd169ec1772247396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:优化动态下码头面搜索终点选取的问题 2026-02-28 10:56:36 +0800f5e3048bcd0597ca0e618895de5849192cd169ecfix:优化动态下码头面搜索终点选取的问题editdata/ssep/open_space_ec.cppsink/ros_sink_ctrl_reference.cppcbe867251847661f335028397456bf5e9d017e891772462806000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bug 2026-03-02 22:46:46 +0800cbe867251847661f335028397456bf5e9d017e89refactor: 优化Publish和UpdateDrivingStatus函数，简化代码逻辑，解决openspace 区域，方向灯不对的bugeditsink/ros_sink_ctrl_reference.cppdata/lattice/trajectory_evaluator.cppc54def98283c4ec7dc783b3c6e037641d990d3be1772781039000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: del mode=0 2026-03-06 15:10:39 +0800c54def98283c4ec7dc783b3c6e037641d990d3befix: del mode=0editdata/lattice/trajectory_evaluator.cppdata/other/flow_control.cpp6b4cad426da64472bce0a1b42ba5414c4d02a0d11773061813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整最大速度阈值以优化后向Ogm忽略逻辑 2026-03-09 21:10:13 +08006b4cad426da64472bce0a1b42ba5414c4d02a0d1fix: 调整最大速度阈值以优化后向Ogm忽略逻辑editdata/other/flow_control.cppCMakeLists.txtdf7f1ef3c7e632393236c47384f40942fc30f9641773062115000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加核心对象库并优化可执行文件链接逻辑 2026-03-09 21:15:15 +0800df7f1ef3c7e632393236c47384f40942fc30f964feat: 添加核心对象库并优化可执行文件链接逻辑editCMakeLists.txtdata/config/cfg_lat_plan.hppdata/wbca/wbca_data.hpptasks/plan/path_optimization_task.cppdata/config/cfg_lat_plan.cpp.clangd9139b2a6a7d5a69cee55395a332187bbf2a096fb1773114548000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add smooth_mode_wbca_params 2026-03-10 11:49:08 +08009139b2a6a7d5a69cee55395a332187bbf2a096fbfeat: add smooth_mode_wbca_paramseditdata/config/cfg_lat_plan.hppedittasks/plan/path_optimization_task.cppedit.clangdeditdata/config/cfg_lat_plan.cppeditdata/wbca/wbca_data.hppdata/config/cfg_lat_plan.cpptasks/plan/path_optimization_task.cpp986293b15a5974c620ba0a521a5d167f82a501191773115397000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: smooth_mode_wbca_params bug 2026-03-10 12:03:17 +0800986293b15a5974c620ba0a521a5d167f82a50119fix: smooth_mode_wbca_params bugeditdata/config/cfg_lat_plan.cppedittasks/plan/path_optimization_task.cppdata/config/cfg_hmi.cppdata/config/cfg_hmi.hpphmi/replayer_hmi.cppreplayer/logic.cpp035e2cf830ba61ee63048e0e129dea20231d8af51773800729000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: lock historical cloud point in replayer. 2026-03-18 10:25:29 +0800035e2cf830ba61ee63048e0e129dea20231d8af5fix: lock historical cloud point in replayer.edithmi/replayer_hmi.cppeditdata/config/cfg_hmi.cppeditdata/config/cfg_hmi.hppeditreplayer/logic.cppdata/decide/decide_reaction.hpp.gitignoreCMakeLists.txtdata/ssep/forward_ec.cpptasks/deciders/search_decider/forward_search_decider.cppdbd2812127d276e7ad1f968f358529e0ae53a5a11773800883000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add FORWARD_BEFORE_BACKWARD 2026-03-18 10:28:03 +0800dbd2812127d276e7ad1f968f358529e0ae53a5a1fix: add FORWARD_BEFORE_BACKWARDeditdata/ssep/forward_ec.cppedit.gitignoreeditCMakeLists.txteditdata/decide/decide_reaction.hppedittasks/deciders/search_decider/forward_search_decider.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/other_decider/replan_decider.hppplan/prepare/prepare_status.cpp448aee47e245f190381c830773c7a318c6b123741773801028000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for reversing truck. 2026-03-18 10:30:28 +0800448aee47e245f190381c830773c7a318c6b12374fix: ssep replan for reversing truck.editdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.hppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_env_const.cpp76b3a0eb6a03df0be0286a166616b28bfc5ccf5a1773801287000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: refine deviation_stop params. 2026-03-18 10:34:47 +080076b3a0eb6a03df0be0286a166616b28bfc5ccf5afix: refine deviation_stop params.editdata/config/cfg_env_const.cppdata/vehicle/request_routing_data.cppbe714f29c973f94c63c32603e269273a23c7bfdd1773801366000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: path disapearing issue. 2026-03-18 10:36:06 +0800be714f29c973f94c63c32603e269273a23c7bfddfix: path disapearing issue.editdata/vehicle/request_routing_data.cppplan/prepare/prepare_status.cppad4d815f1b2950b84c190c02d925b7debb42e2821773801394000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_path_ego match issue. 2026-03-18 10:36:34 +0800ad4d815f1b2950b84c190c02d925b7debb42e282fix: trailer_path_ego match issue.editplan/prepare/prepare_status.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppplan/prepare/prepare_status.cpp05cba2ab21ded99ccdfcb7f96508ea2873e8ccbd1773825627000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: straighten then reverse. 2026-03-18 17:20:27 +080005cba2ab21ded99ccdfcb7f96508ea2873e8ccbdrefact: straighten then reverse.editdata/config/cfg_env_const.cppeditplan/prepare/prepare_status.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_env_const.hppdata/vehicle/lane_detection.cppa106c054091a39f8e38cabb78e45cec62f98e14d1773827435000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane width for single line lane detection 2026-03-18 17:50:35 +0800a106c054091a39f8e38cabb78e45cec62f98e14dfix: using map lane width for single line lane detectioneditdata/vehicle/lane_detection.cppdata/vehicle/vehicle_state.cppdata/plan/start_point_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/long_decider/constrain_decider.hpp974f2e41451a6a980c4c8c2a9045fe75f2fc04901773891447000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: stop for localization switching. 2026-03-19 11:37:27 +0800974f2e41451a6a980c4c8c2a9045fe75f2fc0490feat: stop for localization switching.edittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/vehicle_state.hppeditdata/plan/start_point_data.cppedittasks/deciders/long_decider/constrain_decider.hppeditdata/vehicle/vehicle_state.cpptasks/deciders/long_decider/constrain_decider.cpp66668fce0521286d4f78c74c849dadea948954321773891626000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log msf localization switching status. 2026-03-19 11:40:26 +080066668fce0521286d4f78c74c849dadea94895432fix: log msf localization switching status.edittasks/deciders/long_decider/constrain_decider.cppdata/map/pnc_map/pnc_map.cpp7c94361ecd0a6331ad51d2fd135e9408b56382891773977808000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: road segment splitting bug. 2026-03-20 11:36:48 +08007c94361ecd0a6331ad51d2fd135e9408b5638289fix: road segment splitting bug.editdata/map/pnc_map/pnc_map.cppdata/map/pnc_map/pnc_map.cpp94045a905e6e7064aa83d3535b9a67e6f06bb3b31773979209000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefact: GetRoadSegmentFirstSplitPos 2026-03-20 12:00:09 +080094045a905e6e7064aa83d3535b9a67e6f06bb3b3refact: GetRoadSegmentFirstSplitPoseditdata/map/pnc_map/pnc_map.cppdata/app/app_data.cpp908911bfca576244174f10e54cd725ab9f30dd0e1774266714000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑 2026-03-23 19:51:54 +0800908911bfca576244174f10e54cd725ab9f30dd0efix: (临时处理)注释掉接收目标命令中的拖车标签和大小处理逻辑editdata/app/app_data.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/imv_enter_station_planner.h67094e46383a0b33d5c95997caedc423eace30141774367733000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 解决西联IMV进停车位搜索过慢的问题 2026-03-24 23:55:33 +080067094e46383a0b33d5c95997caedc423eace3014fix: 解决西联IMV进停车位搜索过慢的问题editssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_enter_station_planner.hssep/scenarios/planner_utils.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/planner_utils.ccbce64a9fb9bed66c594b0a207511d989c4039b9f1774425071000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: 普通卡车多段倒车入库时适配拉直点逻辑 2026-03-25 15:51:11 +0800bce64a9fb9bed66c594b0a207511d989c4039b9ffeat: 普通卡车多段倒车入库时适配拉直点逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/planner_utils.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/planner_utils.ccssep/common/utils/path_utils.cc88fe599342bb3d5e99b4f73b388d3a36f9f7d3201774439458000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。 2026-03-25 19:50:58 +080088fe599342bb3d5e99b4f73b388d3a36f9f7d320fix: SSEP: 进出散货堆场-解决后处理过于严格导致搜索失败的问题。editssep/common/utils/path_utils.ccdata/map/pnc_map/pnc_map_path.cppeb8b675d5b80921a05bcf7cfd6d9c37677c0398b1774493942000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围 2026-03-26 10:59:02 +0800eb8b675d5b80921a05bcf7cfd6d9c37677c0398bfix: 调整路径重叠的起始和结束点设置，确保不超出有效范围editdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cpp46589607901cc2599655efe869c7b40651bcffc81774495728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add position check for reversing 2026-03-26 11:28:48 +080046589607901cc2599655efe869c7b40651bcffc8feat: add position check for reversingeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppdata/config/cfg_env_const.cppcd315a7c5379a39b970324c059728920143fa5231774509780000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable revsersing deviation. 2026-03-26 15:23:00 +0800cd315a7c5379a39b970324c059728920143fa523fix: disable revsersing deviation.editdata/config/cfg_env_const.cppplan/prepare/prepare_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppplan/prepare/prepare_status.cppd8c6278e4447d5e4f9d4ce98f9acd13dc367adcf1774518457000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit straithen times. 2026-03-26 17:47:37 +0800d8c6278e4447d5e4f9d4ce98f9acd13dc367adcffeat: limit straithen times.editplan/prepare/prepare_status.hppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppssep/scenarios/truck_accurate_reversing_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/rigid_truck_keb_optimizer.h1158a27743ae3cbb4a0c1095e7850143daf14aea1774518521000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离 2026-03-26 17:48:41 +08001158a27743ae3cbb4a0c1095e7850143daf14aeafeat: SSEP: 普通卡车倒车搜索加长最后一段拉直距离editssep/scenarios/truck_accurate_reversing_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccplan/prepare/prepare_status.cpp1af3c8f1db01d0693586e98cad36c87580ac5c561774579089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing times bug 2026-03-27 10:38:09 +08001af3c8f1db01d0693586e98cad36c87580ac5c56fix: reversing times bugeditplan/prepare/prepare_status.cppssep/scenarios/imv_enter_station_planner.hssep/scenarios/truck_general_planner.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/scenario_planner_factory.hssep/ssep_planner.ccssep/common/utils/path_utils.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hssep/scenarios/truck_multi_segment_parking_planner.hssep/scenarios/imv_exit_parking_spot_planner.h9e70c8344cefa2dce322bdebaded279a165ebaed1774583254000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_task 2026-03-27 11:47:34 +08009e70c8344cefa2dce322bdebaded279a165ebaedfix: checkout feat_keb_taskeditssep/scenarios/imv_enter_station_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/common/utils/path_utils.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/ssep_planner.cceditssep/scenarios/imv_exit_parking_spot_planner.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_general_planner.hssep/ssep_planner.cc89102f4e856e982cd6a002d274678e2f0e19dff81774583311000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversing ssep planner bug 2026-03-27 11:48:31 +080089102f4e856e982cd6a002d274678e2f0e19dff8fix: reversing ssep planner bugeditssep/ssep_planner.ccplan/prepare/prepare_status.cppa29eb1c83bacb6b66111a68719a9a3937fa350d11774583770000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reversitong activation position thr 10.0 2026-03-27 11:56:10 +0800a29eb1c83bacb6b66111a68719a9a3937fa350d1fix: reversitong activation position thr 10.0editplan/prepare/prepare_status.cppthirdparty/lbfgs/lbfgs.hppbce6bb1dbfa57b881faf7ad6886f49a37230adc91774603649000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add lbfgs prevous version. 2026-03-27 17:27:29 +0800bce6bb1dbfa57b881faf7ad6886f49a37230adc9feat: add lbfgs prevous version.editthirdparty/lbfgs/lbfgs.hppdata/constrain/block_data.cpp7083a00f7acd9d060708d1f01df5c82a7e6537f51775013719000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: curvature over limit filer. 2026-04-01 11:21:59 +08007083a00f7acd9d060708d1f01df5c82a7e6537f5fix: curvature over limit filer.editdata/constrain/block_data.cppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_server.ccssep/protos/operation_mode.protossep/offboard/ssep_planner_wrapper.ccssep/data_structures/state_match_condition.hssep/data_structures/path_repository_manager.ccssep/scenarios/tractor_trailer_enter_parking_spot_planner.hssep/data_structures/state_match_condition.ccssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.ccssep/offboard/servers/path_repository_vis_html_template.hssep/protos/state_match_condition.protossep/common/utils/map_element_utils.hppssep/offboard/scene_replay/CMakeLists.txtssep/protos/scene.protossep/ssep_planner.hssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.hssep/protos/path_repository.protossep/CMakeLists.txtssep/offboard/servers/CMakeLists.txtssep/offboard/servers/path_repository_vis_html_template.ccssep/scenarios/truck_general_planner.hssep/offboard/generate_path_repository/CMakeLists.txtssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/scenarios/truck_accurate_reversing_planner.ccssep/ssep_planner.ccssep/data_structures/path_repository_manager.hadd9f556e95b2608a803429926180a9f8765565b1775026622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:合并ssep 2026-04-01 14:57:02 +0800add9f556e95b2608a803429926180a9f8765565bfeat:合并ssepeditssep/offboard/scene_replay/CMakeLists.txteditssep/protos/scene.protoaddssep/offboard/generate_path_repository/CMakeLists.txteditssep/common/utils/map_element_utils.hppeditssep/ssep_planner.ccaddssep/data_structures/path_repository_manager.haddssep/offboard/servers/path_repository_vis_html_template.ccaddssep/offboard/servers/path_repository_vis_html_template.heditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/truck_general_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.haddssep/protos/state_match_condition.protoaddssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/scenarios/tractor_trailer_enter_parking_spot_planner.haddssep/protos/path_repository.protoeditssep/CMakeLists.txteditssep/ssep_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/offboard/servers/path_repository_vis_server.cceditssep/offboard/servers/CMakeLists.txteditssep/coarse_search/searcher_builders/imv_bidirectional_searcher_builder.cceditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/data_structures/path_repository_manager.ccaddssep/protos/operation_mode.protoaddssep/data_structures/state_match_condition.ccaddssep/data_structures/state_match_condition.hssep/offboard/servers/path_repository_vis_server.ccssep/maps/ogm.hssep/maps/ogm.ccssep/data_structures/path_repository_manager.ccssep/maps/ogm_builder.ccssep/protos/path_repository.protossep/CMakeLists.txtssep/protos/ogm.protossep/offboard/servers/path_repository_vis_html_template.ccssep/offboard/generate_path_repository/generate_path_repository_cli.ccssep/data_structures/path_repository_manager.hssep/ssep_planner.ccssep/data_structures/path_utils.h5492d6800ec62aba7edeff396c22e32c2367048a1775542486000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout ssep from feat_keb_task 2026-04-07 14:14:46 +08005492d6800ec62aba7edeff396c22e32c2367048afix: checkout ssep from feat_keb_taskeditssep/offboard/generate_path_repository/generate_path_repository_cli.cceditssep/offboard/servers/path_repository_vis_server.cceditssep/data_structures/path_repository_manager.heditssep/maps/ogm.cceditssep/data_structures/path_repository_manager.cceditssep/CMakeLists.txteditssep/offboard/servers/path_repository_vis_html_template.cceditssep/maps/ogm_builder.cceditssep/maps/ogm.haddssep/protos/ogm.protoeditssep/ssep_planner.cceditssep/protos/path_repository.protoeditssep/data_structures/path_utils.hdata/config/cfg_env_const.hppdata/vehicle/related_offset.hppplan/prepare/prepare_offset.cppsource/ros_source_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpp49256fc5857617c9ec947e1e70e59a7fe592a9851775545738000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: checkout relate_offset from feat_straddle_v2 2026-04-07 15:08:58 +080049256fc5857617c9ec947e1e70e59a7fe592a985feat: checkout relate_offset from feat_straddle_v2editsource/ros_source_offset.cppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.hppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppdata/config/cfg_env_const.hppplan/prepare/prepare_status.cppdata/vehicle/deviation_status.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/plan_frame.hppdata/plan_frame.cpp44df58cea3903417a9131a306456a68dbbdce5781775555602000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add DeviationStatus 2026-04-07 17:53:22 +080044df58cea3903417a9131a306456a68dbbdce578feat: add DeviationStatuseditdata/config/cfg_env_const.cppadddata/vehicle/deviation_status.cppeditdata/plan_frame.cppadddata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditplan/prepare/prepare_status.cppeditdata/plan_frame.hppdata/decide/decide_reaction.hppa1a26f2d57ce4bf6557d71580132ced3c17bf8a61775562537000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add update_end_position for ssep replan. 2026-04-07 19:48:57 +0800a1a26f2d57ce4bf6557d71580132ced3c17bf8a6feat: add update_end_position for ssep replan.editdata/decide/decide_reaction.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cppe0b3376c588f78e040bd3b0bf6df8a204be651dc1775562570000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: deviation for align 2026-04-07 19:49:30 +0800e0b3376c588f78e040bd3b0bf6df8a204be651dcfeat: deviation for aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppdata/decide/decide_reaction.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cppdata/vehicle/deviation_status.cppplan/prepare/prepare_offset.cppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cpphmi/draw/draw_ego.cpp8fb3cc2a97083c3f930ec6dc668b4defbb7c37261775620452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan for bulk align. 2026-04-08 11:54:12 +08008fb3cc2a97083c3f930ec6dc668b4defbb7c3726fix: ssep replan for bulk align.editdata/vehicle/related_offset.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditplan/prepare/prepare_offset.cppeditdata/decide/decide_reaction.cppedithmi/draw/draw_ego.cppeditdata/ssep/forward_ec.cppdata/vehicle/related_offset.cpp9c32cddd4754aeba740e36ba349aab4e24f2d3e81775624288000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reverse bulk offset heading 2026-04-08 12:58:08 +08009c32cddd4754aeba740e36ba349aab4e24f2d3e8fix: reverse bulk offset headingeditdata/vehicle/related_offset.cppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cppd4e913f216407576df39fab3f728b07e6282b4241775631203000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: limit reversing align times 2026-04-08 14:53:23 +0800d4e913f216407576df39fab3f728b07e6282b424feat: limit reversing align timeseditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppdata/plan_frame.cppdata/vehicle/deviation_status.cpptasks/deciders/other_decider/replan_decider.cpp62b89686f4a1c19ee1e01cb9728e75cd45b20c181775709922000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log align info; serialize bulk_align_offset 2026-04-09 12:45:22 +080062b89686f4a1c19ee1e01cb9728e75cd45b20c18fix: log align info; serialize bulk_align_offseteditdata/vehicle/deviation_status.cppeditdata/plan_frame.cppedittasks/deciders/other_decider/replan_decider.cppdata/vehicle/deviation_status.cpp823ba5df56c967431bdf659641beb1b5f8e94fe51775710022000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: log stop_deviation_for_algn 2026-04-09 12:47:02 +0800823ba5df56c967431bdf659641beb1b5f8e94fe5fix: log stop_deviation_for_algneditdata/vehicle/deviation_status.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc0dc5d5a34dfaca3c7c3379062c47c16c69b643651775711674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 13:14:34 +08000dc5d5a34dfaca3c7c3379062c47c16c69b64365fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccdata/map/pnc_map/pnc_map.cpp9271ccec604819e8591030767febe7b72acc80521775725416000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: pnc_map splitting error. 2026-04-09 17:03:36 +08009271ccec604819e8591030767febe7b72acc8052fix: pnc_map splitting error.editdata/map/pnc_map/pnc_map.cppssep/scenarios/truck_bulk_yark_in_out_planner.ccssep/keb_optimizer/rigid_truck_keb_optimizer.cc417c0854f98abcc3a27da26348c4ca5116b2fb971775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 提升太阳纸业自卸车出堆场成功率 2026-04-09 19:14:03 +0800417c0854f98abcc3a27da26348c4ca5116b2fb97fix: SSEP: 提升太阳纸业自卸车出堆场成功率editssep/scenarios/truck_bulk_yark_in_out_planner.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.hssep/ssep_planner.cccf9ba1f557eaf34408610eb1ee0cce4be1e897ee1775733243000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度 2026-04-09 19:14:03 +0800cf9ba1f557eaf34408610eb1ee0cce4be1e897eechore: SSEP: 提升CAR多段倒车pass point距离终点较远时的搜索速度editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/ssep_planner.ccssep/ssep_planner.ccc60e0265ea92e647e55b5f4eb78622385dbc7dd01776061340000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofix: SSEP: 修复多段倒车路径异常问题 2026-04-13 14:22:20 +0800c60e0265ea92e647e55b5f4eb78622385dbc7dd0fix: SSEP: 修复多段倒车路径异常问题editssep/ssep_planner.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cppc0ec70f60f70c13f1633236b6113eceef49249221776074404000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: set up max_forward_distance 2026-04-13 18:00:04 +0800c0ec70f60f70c13f1633236b6113eceef4924922feat: set up max_forward_distanceeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.hppeditdata/config/cfg_env_const.cppssep/scenarios/stitching_replanner.hssep/scenarios/truck_multi_segment_parking_planner.h2490554ec1ffd26960e68a6b577d38b19e90a56d1776146825000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 修复自卸车进卸料区路径有点斜的问题 2026-04-14 14:07:05 +08002490554ec1ffd26960e68a6b577d38b19e90a56dfix: SSEP: 修复自卸车进卸料区路径有点斜的问题editssep/scenarios/stitching_replanner.heditssep/scenarios/truck_multi_segment_parking_planner.hssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccef0bf75759f63fadc53235a7a657a8ab7a9768f11776152683000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-14 15:44:43 +0800ef0bf75759f63fadc53235a7a657a8ab7a9768f1fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccdd3a65f56ad6005b79c090dbef03d481368e3f671776220439000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题 2026-04-15 10:33:59 +0800dd3a65f56ad6005b79c090dbef03d481368e3f67fix: SSEP: 解决多段搜索除数为0可能导致崩溃的问题editssep/coarse_search/motion_primitive_sampler/arc_path_motion_primitive_sampler.ccssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/truck_multi_segment_parking_planner.h7488347a486bc1348df9d3f239f9f43ce79ba4d41776220452000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题 2026-04-15 10:34:12 +08007488347a486bc1348df9d3f239f9f43ce79ba4d4fix: SSEP: 解决精准倒车在pass point附近进行多段搜索时搜索失败的问题editssep/coarse_search/searcher_builders/truck_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/truck_multi_segment_parking_planner.hplan/prepare/prepare_status.hppplan/prepare/prepare_status.cpp953da3561df41d78a5c16c24cf4e1fdd591c04571776401138000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: straight lane near crane and lock_station 2026-04-17 12:45:38 +0800953da3561df41d78a5c16c24cf4e1fdd591c0457fix: straight lane near crane and lock_stationeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/vehicle/vehicle_state.cpptasks/deciders/other_decider/replan_decider.cppdata/vehicle/vehicle_state.hpptasks/deciders/other_decider/replan_decider.hpp2ee5acf4036f04c2432f15a073512013a5a996a71777003064000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: ssep replan for localization exception. 2026-04-24 11:57:44 +08002ee5acf4036f04c2432f15a073512013a5a996a7feat: ssep replan for localization exception.editdata/vehicle/vehicle_state.cppedittasks/deciders/other_decider/replan_decider.cppeditdata/vehicle/vehicle_state.hppedittasks/deciders/other_decider/replan_decider.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.hppdata/config/cfg_env_const.cppdata/vehicle/related_offset.cppdata/vehicle/deviation_status.cppbdbdf07ffee3dd483a3574814cc002af158221e11777434001000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: waiting for lift traile; using heading error for reversing align 2026-04-29 11:40:01 +0800bdbdf07ffee3dd483a3574814cc002af158221e1feat: waiting for lift traile; using heading error for reversing aligneditdata/vehicle/deviation_status.hppeditdata/config/cfg_env_const.hppeditdata/vehicle/related_offset.cppeditdata/config/cfg_env_const.cppeditdata/vehicle/deviation_status.cppssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/offboard/path_drawing_tool/hermite_path_generator.ccssep/protos/ssep_scenario_type.protossep/param_loader/param.hssep/offboard/path_drawing_tool/path_drawing_html_template.ccssep/data_structures/path.hssep/offboard/path_drawing_tool/hermite_path_generator.hssep/keb_optimizer/keb_problem.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.ccssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.hssep/scenarios/planner_utils.hssep/protos/params.protossep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/keb_optimizer/imv_keb_optimizer.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/maps/ogm.ccssep/ssep_planner.hssep/offboard/path_drawing_tool/CMakeLists.txtssep/keb_optimizer/cost_features/dynamic_constraint.hssep/scenarios/truck_general_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.hssep/offboard/path_drawing_tool/path_drawing_html_template.hssep/ssep_planner.ccssep/data_structures/ssep_scenario_type.hppssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.ccssep/offboard/path_drawing_tool/path_drawing_tool_main.ccssep/scenarios/straddle_carrier_pick_vehicle_planner.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.hssep/keb_optimizer/rigid_truck_keb_optimizer.hssep/protos/ogm.protossep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/keb_optimizer/keb_utils.hssep/data_structures/pose.hssep/data_structures/path.ccssep/keb_optimizer/cost_features/ref_line_cost.hssep/common/utils/scene_frame_visualization.ccssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/maps/ogm.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/scenarios/tractor_trailer_short_distance_planner.hssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.hssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccssep/keb_optimizer/cost_features/trailer_disk_collision_cost.hssep/keb_optimizer/keb_utils.ccede04268280e71eeaafcd23f5f2844f5f072cc241777435408000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 ssep 2026-04-29 12:03:28 +0800ede04268280e71eeaafcd23f5f2844f5f072cc24fix: checkout feat_keb_v2 ssepeditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/keb_utils.heditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/rigid_truck_keb_optimizer.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster.heditssep/scenarios/truck_general_planner.heditssep/maps/ogm.heditssep/protos/ogm.protoeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccaddssep/scenarios/tractor_trailer_short_distance_planner.haddssep/offboard/path_drawing_tool/path_drawing_html_template.heditssep/data_structures/path.cceditssep/scenarios/tractor_trailer_general_planner.heditssep/protos/ssep_scenario_type.protoeditssep/ssep_planner.cceditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/keb_optimizer/cost_features/trailer_disk_collision_cost.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.cceditssep/protos/params.protoeditssep/keb_optimizer/rigid_truck_keb_optimizer.heditssep/coarse_search/searcher_builders/truck_reference_following_searcher_builder.heditssep/keb_optimizer/cost_features/ref_line_cost.heditssep/ssep_planner.heditssep/data_structures/path.heditssep/keb_optimizer/keb_problem.ccaddssep/offboard/path_drawing_tool/curvature_auto_adjuster_test.cceditssep/keb_optimizer/cost_features/dual_side_disk_collision_cost.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.ccaddssep/offboard/path_drawing_tool/CMakeLists.txtaddssep/offboard/path_drawing_tool/path_drawing_html_template.cceditssep/scenarios/planner_utils.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/scenarios/planner_utils.heditssep/data_structures/pose.heditssep/keb_optimizer/keb_utils.cceditssep/keb_optimizer/keb_problem.heditssep/common/utils/scene_frame_visualization.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.heditssep/keb_optimizer/cost_features/dynamic_constraint.haddssep/offboard/path_drawing_tool/path_drawing_tool_main.ccaddssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/offboard/path_drawing_tool/curvature_auto_adjuster.ccaddssep/offboard/path_drawing_tool/hermite_path_generator.cceditssep/keb_optimizer/cost_features/dual_side_trailer_disk_collision_cost.haddssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/param_loader/param.hdata/decide/decide_reaction.cppdata/config/cfg_env_const.hppdata/decide/decide_reaction.hppdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/forward_ec.cpp033ce6e23fb3f58b179636b2c92f34900c2326ff1778059823000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add max_forward_distance_for_straighten_trailer 2026-05-06 17:30:23 +0800033ce6e23fb3f58b179636b2c92f34900c2326fffix: add max_forward_distance_for_straighten_traileredittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/forward_ec.cppeditdata/decide/decide_reaction.hppeditdata/config/cfg_env_const.cppeditdata/decide/decide_reaction.cppeditdata/config/cfg_env_const.hppdata/vehicle/deviation_status.cppbdb5bd2633a80a481ed68bb6ae1d2f97276503c41778304282000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: deviation_status bug 2026-05-09 13:24:42 +0800bdb5bd2633a80a481ed68bb6ae1d2f97276503c4fix: deviation_status bugeditdata/vehicle/deviation_status.cppscenarios/scenario.cppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppb73c2202a26ccc333c2a607a5c3b89fd5c674be21778495406000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore path optimizor in park_in state. 2026-05-11 18:30:06 +0800b73c2202a26ccc333c2a607a5c3b89fd5c674be2fix: ignore path optimizor in park_in state.editdata/config/cfg_func_sw.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/scenario.cppeditdata/config/cfg_func_sw.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/scenarios/scenario_planner_factory.h71532e52bf8d96d93e36cb1e145955051223af281778742745000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车接挂适配超窄库位 2026-05-14 15:12:25 +080071532e52bf8d96d93e36cb1e145955051223af28chore: SSEP: 集卡多段倒车接挂适配超窄库位editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/scenarios/scenario_planner_factory.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cchmi/widget/velocity_chart.cpphmi/widget/brake_chart.hpphmi/widget/velocity_chart.hpphmi/widget/throttle_chart.hpphmi/widget/command.hpphmi/widget/command.cpphmi/common/chart.cpphmi/widget/diagnose.cpphmi/common/chart.hpphmi/widget/steer_chart.cpphmi/widget/perf_cost_detail.hpphmi/widget/steer_chart.hpphmi/widget/brake_chart.cpphmi/widget/diagnose.hpphmi/widget/throttle_chart.cpphmi/widget/perf_cost_detail.cpp6e2aa172556961ecc1667144c2c4b149723fab9f1779079874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:优化界面耗时 2026-05-18 12:51:14 +08006e2aa172556961ecc1667144c2c4b149723fab9frefactor:优化界面耗时edithmi/widget/command.hppedithmi/widget/velocity_chart.hppedithmi/widget/throttle_chart.cppedithmi/common/chart.cppedithmi/widget/perf_cost_detail.hppedithmi/widget/steer_chart.cppedithmi/widget/steer_chart.hppedithmi/widget/diagnose.hppedithmi/widget/brake_chart.cppedithmi/widget/diagnose.cppedithmi/widget/brake_chart.hppedithmi/widget/throttle_chart.hppedithmi/widget/velocity_chart.cppedithmi/widget/command.cppedithmi/common/chart.hppedithmi/widget/perf_cost_detail.cppdata/ssep/forward_ec.cppdata/ssep/forward_ec.hpp7a837db31d1ae105045342716976bc863531d1371779089306000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using straighten replan logic for path_direction_change replan type 2026-05-18 15:28:26 +08007a837db31d1ae105045342716976bc863531d137fix: using straighten replan logic for path_direction_change replan typeeditdata/ssep/forward_ec.cppeditdata/ssep/forward_ec.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.h1543a6996dc2d5ad2b4d85db678ac7aa56cbc99b1779156221000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 解决威海多段倒车距离og墙太近的问题 2026-05-19 10:03:41 +08001543a6996dc2d5ad2b4d85db678ac7aa56cbc99bfix: SSEP: 解决威海多段倒车距离og墙太近的问题editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccssep/protos/ssep_scenario_type.protossep/scenarios/tractor_trailer_general_planner.hssep/scenarios/scenario_planner_factory.hssep/keb_optimizer/keb_problem.ccssep/CMakeLists.txtssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/scenarios/planner_utils.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/planner_utils.hssep/keb_optimizer/keb_problem.hssep/data_structures/ssep_scenario_type.hppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/straddle_carrier_pick_vehicle_planner.h3678afda1f71cbbba3e23f3e023e7cc23bf13eae1779157184000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: checkout feat_keb_v2 2026-05-19 10:19:44 +08003678afda1f71cbbba3e23f3e023e7cc23bf13eaefix: checkout feat_keb_v2editssep/protos/ssep_scenario_type.protoeditssep/scenarios/tractor_trailer_general_planner.heditssep/scenarios/planner_utils.cceditssep/scenarios/straddle_carrier_pick_vehicle_planner.heditssep/data_structures/ssep_scenario_type.hppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/scenarios/planner_utils.heditssep/keb_optimizer/imv_keb_optimizer.heditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/CMakeLists.txteditssep/keb_optimizer/cost_features/imv_steer_constraint.heditssep/keb_optimizer/keb_problem.cceditssep/scenarios/scenario_planner_factory.heditssep/keb_optimizer/keb_problem.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/ssep/field_junction_ec.cpphmi/draw/draw_map.cppf7fd1e3a50183051c8d0f349ab6a1277aaf7c5db1779414813000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能 2026-05-22 09:53:33 +0800f7fd1e3a50183051c8d0f349ab6a1277aaf7c5dbfeat: 添加不可以区域Z层处理逻辑，优化地图绘制功能editdata/ssep/field_junction_ec.cppedithmi/draw/draw_map.cppdata/ssep/ssep_ec.cpp9886e4b876394fd4a6dfc64a6702ea731c82fdc71780054960000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: 修复威海车型不匹配的问题 2026-05-29 19:42:40 +08009886e4b876394fd4a6dfc64a6702ea731c82fdc7fix: 修复威海车型不匹配的问题editdata/ssep/ssep_ec.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hc1d8bd5e6ec78c8fef8ec1af66f031be3f0c75051780306162000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 减小集卡多段倒车的最大曲率 2026-06-01 17:29:22 +0800c1d8bd5e6ec78c8fef8ec1af66f031be3f0c7505chore: SSEP: 减小集卡多段倒车的最大曲率editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/common/guide_path.cppreplayer/replayer_data_process/replayer_data_process.cpp189d9acb5a0c2e80928154c602b5b3f2f99f0caa1780907781000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:修复快照播放崩溃的bug 2026-06-08 16:36:21 +0800189d9acb5a0c2e80928154c602b5b3f2f99f0caafix:修复快照播放崩溃的bugeditreplayer/replayer_data_process/replayer_data_process.cppeditdata/common/guide_path.cppssep/common/utils/clipper2/include/clipper2/clipper.version.hssep/keb_optimizer/cost_features/imv_steer_constraint.hssep/common/utils/clipper2/src/clipper.triangulation.cppssep/common/utils/clipper2/include/clipper2/clipper.rectclip.hssep/keb_optimizer/distance_field_interpolator.hssep/common/utils/clipper2/src/clipper.engine.cppssep/common/utils/clipper2/include/clipper2/clipper.engine.hssep/keb_optimizer/cost_features/cost_functions.hssep/common/utils/clipper2/include/clipper2/clipper.export.hssep/maps/ogm_builder.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/truck_multi_segment_parking_planner.hssep/common/utils/clipper2/include/clipper2/clipper.triangulation.hssep/scenarios/truck_accurate_reversing_planner.hssep/keb_optimizer/cost_features/sdf_disk_collision_cost.hssep/common/utils/clipper2/include/clipper2/clipper.core.hssep/keb_optimizer/cost_features/imv_kinematic_constraint.hssep/common/utils/clipper2/include/clipper2/clipper.minkowski.hssep/maps/ogm.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/imv_keb_optimizer.ccssep/scenarios/scenario_planner_factory.hssep/maps/ogm.ccssep/common/utils/clipper2/include/clipper2/clipper.offset.hssep/CMakeLists.txtssep/data_structures/polyline.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/maps/ogm_config_utils.ccssep/common/utils/clipper2/src/clipper.offset.cppssep/common/utils/clipper2/src/clipper.rectclip.cppssep/keb_optimizer/keb_problem.hssep/scenarios/truck_accurate_reversing_planner.ccssep/maps/ogm_builder.hssep/common/utils/clipper2/include/clipper2/clipper.hssep/ssep_planner.ccssep/maps/ogm_config_utils.h2be0f64285d53b8256901d73c26151fdc29e49621781615121000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: check out feat_keb_v2 ssep 2026-06-16 21:05:21 +08002be0f64285d53b8256901d73c26151fdc29e4962fix: check out feat_keb_v2 ssepaddssep/common/utils/clipper2/src/clipper.triangulation.cppaddssep/maps/ogm_config_utils.haddssep/keb_optimizer/cost_features/sdf_disk_collision_cost.haddssep/common/utils/clipper2/include/clipper2/clipper.offset.heditssep/scenarios/scenario_planner_factory.haddssep/common/utils/clipper2/include/clipper2/clipper.core.heditssep/scenarios/truck_accurate_reversing_planner.haddssep/common/utils/clipper2/include/clipper2/clipper.rectclip.heditssep/maps/ogm.haddssep/maps/ogm_config_utils.ccaddssep/common/utils/clipper2/src/clipper.offset.cppeditssep/maps/ogm_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.haddssep/common/utils/clipper2/include/clipper2/clipper.minkowski.heditssep/CMakeLists.txtaddssep/common/utils/clipper2/include/clipper2/clipper.version.haddssep/common/utils/clipper2/include/clipper2/clipper.export.heditssep/keb_optimizer/keb_problem.haddssep/common/utils/clipper2/src/clipper.rectclip.cppaddssep/keb_optimizer/cost_features/cost_functions.haddssep/keb_optimizer/distance_field_interpolator.heditssep/scenarios/truck_multi_segment_parking_planner.heditssep/scenarios/truck_accurate_reversing_planner.ccaddssep/common/utils/clipper2/src/clipper.engine.cppaddssep/common/utils/clipper2/include/clipper2/clipper.engine.heditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/maps/ogm.cceditssep/keb_optimizer/cost_features/imv_steer_constraint.haddssep/common/utils/clipper2/include/clipper2/clipper.triangulation.heditssep/keb_optimizer/imv_keb_optimizer.cceditssep/ssep_planner.ccaddssep/common/utils/clipper2/include/clipper2/clipper.heditssep/maps/ogm_builder.heditssep/keb_optimizer/cost_features/imv_kinematic_constraint.heditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/data_structures/polyline.ccdata/config/cfg_env_const.hppdata/ssep/forward_ec.cppdata/config/cfg_env_const.cpp06e526f2797cfcdd974b7b87376af8b99a5807691781697819000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add ssep_forward_ec_tail_straight_distance 2026-06-17 20:03:39 +080006e526f2797cfcdd974b7b87376af8b99a580769fix: add ssep_forward_ec_tail_straight_distanceeditdata/config/cfg_env_const.hppeditdata/ssep/forward_ec.cppeditdata/config/cfg_env_const.cpptasks/deciders/other_decider/replan_decider.cpp4da237d56ec56e6398403c46895e6244eef96c091781700584000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ssep replan bug 2026-06-17 20:49:44 +08004da237d56ec56e6398403c46895e6244eef96c09fix: ssep replan bugedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h89b74c00e4aa7a417f79051a56bb3e35e52d6c121783410768000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: SSEP: 集卡单段倒车裁剪不必要的短轨迹 2026-07-07 15:52:48 +080089b74c00e4aa7a417f79051a56bb3e35e52d6c12fix: SSEP: 集卡单段倒车裁剪不必要的短轨迹editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h7d4f4840a712ed09b597ac66120373e289b263d01783502490000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车增加30厘米碰撞软约束 2026-07-08 17:21:30 +08007d4f4840a712ed09b597ac66120373e289b263d0chore: SSEP: 集卡多段倒车增加30厘米碰撞软约束editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h9ab274c76c37c279a22230bf4ecaa2074981f8e31783502506000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 调整集卡多段倒车拉直逻辑 2026-07-08 17:21:46 +08009ab274c76c37c279a22230bf4ecaa2074981f8e3feat: SSEP: 调整集卡多段倒车拉直逻辑editssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.h638df764d854ee610ffb043450c156efabac45a01783504840000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: build error 2026-07-08 18:00:40 +0800638df764d854ee610ffb043450c156efabac45a0fix: build erroreditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hmath/dubins_curve/dubins_curve.hppbccfab1070eca23f4bdf9e497d6fdc73082348961783504921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 添加<cstddef>头文件以支持大小类型 2026-07-08 18:02:01 +0800bccfab1070eca23f4bdf9e497d6fdc7308234896feat: 添加<cstddef>头文件以支持大小类型editmath/dubins_curve/dubins_curve.hpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/bridge_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.cppd9e8f54ec02e69f09891c514b14050081e043aa81783504937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: 上桥切下桥触发重规划并重置搜索状态 - ReplanDecider 增加 JudgeBridgeSearchReplan: BRIDGE_JUNCTION 规划器下, 历史帧在上桥区、当前帧进入下桥区时触发 CONTINUOUS_NORMAL_INTERSECTION 重规划 - SsepReplanUpdate 早退门加入桥区, 使桥区不再被直接清空 replan 状态 - BridgeJunctionSearchDecider::SubProcessReuse 响应该重规划类型, 重置搜索元素与回退计数 2026-07-08 18:02:17 +0800d9e8f54ec02e69f09891c514b14050081e043aa8桥区重规划: 上桥切下桥触发重规划并重置搜索状态edittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/deciders/other_decider/replan_decider.hppedittasks/deciders/other_decider/replan_decider.cppscenarios/lane_follow_scenario/lane_follow_stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cppscenarios/lane_change_scenario/lane_change_stage.cppscenarios/lane_change_scenario/lane_change_cancel_stage.cppscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_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/out_yead_junction_scenario/out_yard_junction_first_stage.cppscenarios/stage.cppscenarios/parking_scenario/parking_lane_change_stage.cppscenarios/bulkload_scenario/bulkload_lane_change_stage.cppscenarios/stage.hppscenarios/bulkload_scenario/bulkload_preapre_stage.cppscenarios/bulkload_scenario/bulkload_move_backward_stage.cppscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cpp5b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc61783513002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTasks 任务失败后重置后继任务的循环在 18 个 stage 中重复, 统一抽到基类; 其中 MOTION_FSM_TASK/CONSTRAIN_DECIDER 不做 Reset 而继续 RunTask 执行, 以维持状态机与约束输出, 该行为随基类函数推广到所有场景 stage 2026-07-08 20:16:42 +08005b8f7852ab29bc70f34ef965a5d8cebfa9a8ffc6refactor: 后继任务重置逻辑抽取到 Stage 基类 ResetSuccessorTaskseditscenarios/parking_scenario/parking_lane_change_stage.cppeditscenarios/parking_scenario/parking_move_stage.cppeditscenarios/stage.hppeditscenarios/ex_lane_change_scenario/ex_lane_change_prepare_stage.cppeditscenarios/out_yead_junction_scenario/out_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_forward_stage.cppeditscenarios/lane_change_scenario/lane_change_cancel_stage.cppeditscenarios/into_yard_junction_scenario/into_yard_junction_first_stage.cppeditscenarios/bulkload_scenario/bulkload_lane_change_stage.cppeditscenarios/bulkload_scenario/bulkload_move_backward_stage.cppeditscenarios/parking_scenario/parking_prepare_stage.cppeditscenarios/stage.cppeditscenarios/ex_lane_change_scenario/ex_lane_change_stage.cppeditscenarios/lane_change_scenario/lane_change_prepare_stage.cppeditscenarios/lane_follow_scenario/lane_follow_stage.cppeditscenarios/bulkload_scenario/bulkload_move_forward_stage.cppeditscenarios/bulkload_scenario/bulkload_preapre_stage.cppeditscenarios/bulkload_scenario/bulkload_ssep_backward_stage.cppeditscenarios/lane_change_scenario/lane_change_stage.cppdata/ssep/bridge_junction_ec.cppdd7b211bac761d953c6c4fc932dd80486927d13a1783513541000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.com桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索 ConstructDefaultStartPosture 中 last_path_ 不可用原先直接 return false, 改为用自车 x/y/yaw(挂角有效时含挂角)构造起点位姿并置 is_search_from_ego_, 日志同步改为 search from ego pose 2026-07-08 20:25:41 +0800dd7b211bac761d953c6c4fc932dd80486927d13a桥区重规划: last path 无效时回退自车位姿起搜, 不再放弃搜索editdata/ssep/bridge_junction_ec.cppdata/config/cfg_env_const.hppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cppdata/vehicle/deviation_status.cpp968347c220258c6521d8948400157cb4f265496d1783580742000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: multi-frames trigger 2026-07-09 15:05:42 +0800968347c220258c6521d8948400157cb4f265496dfix: multi-frames triggereditdata/vehicle/deviation_status.cppeditdata/config/cfg_env_const.cppeditdata/config/cfg_env_const.hppeditdata/vehicle/deviation_status.hppdata/plan/path_data.cpp6bd8b9e047a8f87fd87c19238bc32ef873d1677a1784172564000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: truck reversing path kappa calculation 2026-07-16 11:29:24 +08006bd8b9e047a8f87fd87c19238bc32ef873d1677afix: truck reversing path kappa calculationeditdata/plan/path_data.cpptasks/deciders/other_decider/replan_decider.cpp9c1cf4a0f757427a691cfeb24228aeeb482cddb71784182499000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: extending distance from current ego position. 2026-07-16 14:14:59 +08009c1cf4a0f757427a691cfeb24228aeeb482cddb7fix: extending distance from current ego position.edittasks/deciders/other_decider/replan_decider.cppssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/keb_optimizer/keb_problem.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/keb_problem.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.h9a1dc2c1f376dca0db4718bbffaef59ef3ebc0e51784514803000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限 2026-07-20 10:33:23 +08009a1dc2c1f376dca0db4718bbffaef59ef3ebc0e5feat: SSEP: 集卡多段倒车场景前进后退使用不同曲率上限editssep/keb_optimizer/keb_problem.cceditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/keb_optimizer/keb_problem.heditssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan/start_point_data.cpp6eb77072de01bc1b352ec471101f6a8b0664ef2a1784519056000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-20 11:44:16 +08006eb77072de01bc1b352ec471101f6a8b0664ef2afix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cpp6e9cab717af1c23854fbee8aaaac0f98488321261784603089000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:04:49 +08006e9cab717af1c23854fbee8aaaac0f9848832126fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppdata/config/cfg_func_sw.hpptasks/deciders/other_decider/replan_decider.cppdata/config/cfg_func_sw.cppdata/plan/ssep_data.hppplan/prepare/prepare_status.cpptasks/deciders/search_decider/forward_search_decider.cpp94122d2e3c767ba73e197af595bd7c320b09cb611784809591000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: disable replan during path direction changing for straightening 2026-07-23 20:26:31 +080094122d2e3c767ba73e197af595bd7c320b09cb61fix: disable replan during path direction changing for straighteningeditplan/prepare/prepare_status.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_func_sw.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/config/cfg_func_sw.cppeditdata/plan/ssep_data.hppssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/evaluator.hssep/coarse_search/batched_priority_queue.hssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.hssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.hssep/coarse_search/indexed_priority_queue.hssep/gpu/heuristic/dubins_kernel.cuhssep/gpu/heuristic/heuristic_batch_bridge.hssep/gpu/heuristic/heuristic_batch_bridge.cussep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.hssep/gpu/heuristic/reeds_shepp_kernel.cuhssep/gpu/device_types.hssep/coarse_search/evaluator/composite_heuristic_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/evaluator/heuristic_feature_computer.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/coarse_search/gpu_context.ccssep/coarse_search/bidirectional_hybrid_astar_search_engine.ccssep/coarse_search/bounded_priority_queue.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/gpu_context.hssep/gpu/collision/collision_checker.cuhssep/scenarios/tractor_trailer_single_segment_parking_planner.hafa6ee73ae937ed5741d7283728c8b9053085d691784861210000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍 2026-07-24 10:46:50 +0800afa6ee73ae937ed5741d7283728c8b9053085d69feat: SSEP: 集卡多段倒车支持GPU搜索，搜索速度提升5-10倍editssep/coarse_search/batched_priority_queue.heditssep/coarse_search/motion_primitive_sampler/composed_motion_primitive_sampler.heditssep/coarse_search/searcher_builders/tractor_trailer_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/reeds_shepp_kernel.cuhaddssep/gpu/heuristic/dubins_kernel.cuhaddssep/coarse_search/evaluator/gpu_bidirectional_kinematic_heuristic_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/gpu/collision/collision_checker.cuheditssep/gpu/device_types.haddssep/coarse_search/evaluator/gpu_kinematic_heuristic_computer.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.heditssep/coarse_search/evaluator/composite_heuristic_computer.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccaddssep/gpu/heuristic/heuristic_batch_bridge.heditssep/coarse_search/gpu_context.heditssep/coarse_search/gpu_context.cceditssep/coarse_search/bidirectional_hybrid_astar_search_engine.cceditssep/coarse_search/bounded_priority_queue.heditssep/coarse_search/evaluator/heuristic_feature_computer.haddssep/gpu/heuristic/heuristic_batch_bridge.cueditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/indexed_priority_queue.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/tractor_trailer_single_segment_parking_planner.h1569c48ce9857798b46abe25056f31736b806b5d1785133492000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题 2026-07-27 14:24:52 +08001569c48ce9857798b46abe25056f31736b806b5dchore: SSEP: 解决集卡倒车距离障碍物较近时会倒着进的问题editssep/scenarios/tractor_trailer_single_segment_parking_planner.hssep/scenarios/tractor_trailer_multi_segment_parking_planner.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cc7310b0790e1f4ff173958ec25f1a6d5c062de87a1785744728000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数 2026-08-03 16:12:08 +08007310b0790e1f4ff173958ec25f1a6d5c062de87achore: SSEP: 集卡多段倒车自适应CPU/GPU模式，回退部分CPU参数editssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccdata/vehicle/deviation_status.hppdata/vehicle/deviation_status.cppdbbcf4a213b3e8c72a863a153b00c5966a06b2491785757479000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: synchronize straighten hold with SSEP search 2026-08-03 19:44:39 +0800dbbcf4a213b3e8c72a863a153b00c5966a06b249fix: synchronize straighten hold with SSEP searcheditdata/vehicle/deviation_status.hppeditdata/vehicle/deviation_status.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cpptasks/plan/reversing_truck_path_task.cpptasks/deciders/long_decider/constrain_decider.cppdata/other/flow_control.cppdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppdata/vehicle/deviation_status.cpp1c386a5065d8e855a1295221908126dd72fbfe571785916711000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: stabilize STEP_ALIGN trajectory 2026-08-05 15:58:31 +08001c386a5065d8e855a1295221908126dd72fbfe57fix: stabilize STEP_ALIGN trajectoryeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.hppedittasks/plan/reversing_truck_path_task.cppeditdata/vehicle/deviation_status.cppeditdata/app/fsm/task_fsm/task_park_fsm/task_park_fsm.cppeditdata/other/flow_control.cppedittasks/deciders/long_decider/constrain_decider.cppdata/ssep/forward_ec.cppe24fc800bd2bc2adadbc8357a3b43f473745beee1786070954000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comchore: 注释掉WHBULK的终点约束 2026-08-07 10:49:14 +0800e24fc800bd2bc2adadbc8357a3b43f473745beeechore: 注释掉WHBULK的终点约束editdata/ssep/forward_ec.cppdata/config/cfg_long_plan.cppdata/constrain/constrain_data.cppdata/constrain/obstacle_stop_constraint_stabilizer.cppdata/constrain/constrain_data.hppdata/constrain/long_target.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan_frame.hppdata/constrain/longitude_constrain.hppdata/constrain/obstacle_stop_constraint_stabilizer.hppdata/config/cfg_long_plan.hpp69a7de04a71948f2fc90742a51ce770451e34ef61786962632000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 稳定障碍停车约束释放在纵向约束生成层增加跨帧释放保持，使 FSM 与 Lattice 消费同一条有效障碍停车约束。\n\n新障碍和更近约束立即生效，停车点跳远或短时消失时按地面点重投影保持；连续清除满足配置时间后再释放，并保留定位异常和急停安全语义。\n\n迁移 LongTarget 中重复的释放保持逻辑，补充配置、诊断字段及快照版本兼容。 2026-08-17 18:30:32 +080069a7de04a71948f2fc90742a51ce770451e34ef6feat: 稳定障碍停车约束释放editdata/config/cfg_long_plan.cppeditdata/constrain/constrain_data.cppeditdata/constrain/longitude_constrain.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/constrain/obstacle_stop_constraint_stabilizer.hppadddata/constrain/obstacle_stop_constraint_stabilizer.cppeditdata/plan_frame.hppeditdata/constrain/constrain_data.hppeditdata/config/cfg_long_plan.hppeditdata/constrain/long_target.cppTesting/obstacle_stop_constraint_stabilizer_test.cppCMakeLists.txt1348391494b9c5ef2798e1d83c18906529bd65fe1786962648000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 补充障碍停车约束自动化场景增加释放状态、序列化精度和多帧场景测试，覆盖停车点跳远、近目标接管、障碍重现清零计时、连续清除释放及 direct-estop 强度保持。\n\n新增独立 GTest 目标，支持无实车和无现场感知条件下验证跨帧生命周期。 2026-08-17 18:30:48 +08001348391494b9c5ef2798e1d83c18906529bd65fetest: 补充障碍停车约束自动化场景editCMakeLists.txtaddTesting/obstacle_stop_constraint_stabilizer_test.cpphmi/widget/diagnose.cppae65e27f3d56c6ab73ec4c0b7e4eba7446ba038a1786962664000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 展示障碍停车约束诊断在 Diagnose 控件中展示约束阶段、held 状态、障碍类型与 ID，并拆行显示 raw/effective、安全距离和释放计时参数，避免窄值列截断。 2026-08-17 18:31:04 +0800ae65e27f3d56c6ab73ec4c0b7e4eba7446ba038afeat: 展示障碍停车约束诊断edithmi/widget/diagnose.cppssep/offboard/CMakeLists.txtssep/offboard/scene_replay/CMakeLists.txtssep/offboard/main_test/main_ssep_input.cccd3e14053d7c71f69133470722bf4507f618e1b81786962801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 SSEP 离线回放构建适配 main_ssep_input 当前规划接口并补齐离线目标依赖。\n\n修正 scene replay 的 Clang 18 编译配置，限制 OpenCV 组件以避免 Protobuf 运行时版本冲突，并允许无 CUDA/TensorRT 环境完成配置。 2026-08-17 18:33:21 +0800cd3e14053d7c71f69133470722bf4507f618e1b8fix: 修复 SSEP 离线回放构建editssep/offboard/CMakeLists.txteditssep/offboard/scene_replay/CMakeLists.txteditssep/offboard/main_test/main_ssep_input.ccssep/coarse_search/tutorial/samplers.htmlssep/coarse_search/tutorial/design-and-tradeoffs.htmlssep/coarse_search/tutorial/builders-and-scenarios.htmlssep/coarse_search/tutorial/search-principles.htmlssep/coarse_search/tutorial/css/style.cssssep/coarse_search/tutorial/index.htmlssep/coarse_search/tutorial/search-engines.htmlssep/coarse_search/tutorial/evaluators.htmlb61724c1fe4aa0563c908015f45d05cf221cc51b1787028741000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autofeat: SSEP: Add coarse search tutorial. 2026-08-18 12:52:21 +0800b61724c1fe4aa0563c908015f45d05cf221cc51bfeat: SSEP: Add coarse search tutorial.addssep/coarse_search/tutorial/index.htmladdssep/coarse_search/tutorial/builders-and-scenarios.htmladdssep/coarse_search/tutorial/css/style.cssaddssep/coarse_search/tutorial/evaluators.htmladdssep/coarse_search/tutorial/design-and-tradeoffs.htmladdssep/coarse_search/tutorial/samplers.htmladdssep/coarse_search/tutorial/search-principles.htmladdssep/coarse_search/tutorial/search-engines.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cpp133eb9a3ee7b8260c54374fab150377499b128cc1787043151000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-18 16:52:31 +0800133eb9a3ee7b8260c54374fab150377499b128ccfix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppdata/ssep/bridge_junction_ec.cpp7cefe8436b6fcd219ff85680ce390c03a85885d81787044006000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-18 17:06:46 +08007cefe8436b6fcd219ff85680ce390c03a85885d8fix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdssep/offboard/CMakeLists.txtssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.ccssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cc5559c7ce9289140a790db81354a26f24bc46d0381787050493000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autochore: SSEP: 更新集卡启发项表生成器 2026-08-18 18:54:53 +08005559c7ce9289140a790db81354a26f24bc46d038chore: SSEP: 更新集卡启发项表生成器addssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/README.mdeditssep/offboard/CMakeLists.txtdeletessep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_heur_table.heditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/generate_shortest_path_heur_cli.cceditssep/offboard/tools/tractor_trailer_shortest_path_heuristic_generator/shortest_path_expander.hplan/prepare/prepare_ogm.cppdata/ssep/forward_ec.cppdata/ssep/reverse_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/normal_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs_line.hppdata/ssep/hmi_virtual_obs.hpphmi/draw/draw_ssep_virtual_obs.hppadbe225b2dd3d667034fcfaaafab605b40e6aea01787111815000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 11:56:55 +0800adbe225b2dd3d667034fcfaaafab605b40e6aea0feat: 超视距线支持按高度分层editdata/config/cfg_func_sw.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_func_sw.hppedithmi/widget/pnc_mat_shared.cppedithmi/common/pnc_graphics_view.cppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/open_space_ec.cppedithmi/common/drag_image.hppedithmi/widget/pnc_mat.cppeditplan/prepare/prepare_hmi_virtual_obs.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/forward_ec.cppeditdata/ssep/reverse_ec.cppedithmi/draw/draw_ssep_virtual_obs.cppedithmi/common/pnc_graphics_view.hppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/replayer_pnc_mat.cppedithmi/draw/draw_all.cppcommon/util/express.cpp9ad71f5121f937be22808d4be35d1aa9ba1ad3311787111921000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充 SC 目标点类型显示为 RelatedOffset::TYPE_SC_TARGET 增加中文显示文本，避免落入未知类型并消除 switch 枚举未覆盖警告。 2026-08-19 11:58:41 +08009ad71f5121f937be22808d4be35d1aa9ba1ad331fix: 补充 SC 目标点类型显示editcommon/util/express.cpphmi/widget/map.hpphmi/widget/map.cpp08f8fe049c98a7cdf5a8936d58b1046b8ee3800b1787113271000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 设置初始位姿时保留定位高度 HMI 点击设置车辆初始位置时，将当前定位 Z 写入模拟初始位姿消息，并使用该高度查询附近车道，避免多层甲板场景匹配到错误层。 2026-08-19 12:21:11 +080008f8fe049c98a7cdf5a8936d58b1046b8ee3800bfix: 设置初始位姿时保留定位高度edithmi/widget/map.hppedithmi/widget/map.cppssep/test/ssep_planner_test.ccssep/scenarios/scenario_planner_factory.hssep/test/CMakeLists.txtssep/scenarios/planner_utils.cc4a242d4ddcf027aab6dc556703352e5191255df71787116341000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂停车途经点判定使用圆弧终点姿态评估起点对齐状态，避免横向错位场景被误分流到纯倒车单段规划。\n\n补充规划器分流日志与横向错位、共线场景回归测试，并限制测试 OpenCV 组件以避免 Protobuf 运行时冲突。 2026-08-19 13:12:21 +08004a242d4ddcf027aab6dc556703352e5191255df7fix: 修正拖挂停车途经点判定editssep/scenarios/scenario_planner_factory.heditssep/test/ssep_planner_test.cceditssep/scenarios/planner_utils.cceditssep/test/CMakeLists.txtssep/keb_optimizer/tutorial/vehicle-types.htmlssep/keb_optimizer/tutorial/keb-problem.htmlssep/keb_optimizer/tutorial/principles.htmlssep/keb_optimizer/tutorial/usage-and-tuning.htmlssep/keb_optimizer/tutorial/css/style.cssssep/keb_optimizer/tutorial/cost-functions.htmlssep/keb_optimizer/tutorial/index.html7a29a63eaefa8630ca91f9ce79832c8ffb1ec5411787116637000http://159.27.114.184:8080/jenkins/user/tangwenqingtangwenqingtangwenqing@senior.autodoc: SSEP: Add keb tutorial 2026-08-19 13:17:17 +08007a29a63eaefa8630ca91f9ce79832c8ffb1ec541doc: SSEP: Add keb tutorialaddssep/keb_optimizer/tutorial/principles.htmladdssep/keb_optimizer/tutorial/css/style.cssaddssep/keb_optimizer/tutorial/keb-problem.htmladdssep/keb_optimizer/tutorial/index.htmladdssep/keb_optimizer/tutorial/cost-functions.htmladdssep/keb_optimizer/tutorial/usage-and-tuning.htmladdssep/keb_optimizer/tutorial/vehicle-types.htmldata/config/cfg_env_const.hpptasks/deciders/search_decider/forward_search_decider.hppdata/config/cfg_env_const.cpptasks/deciders/search_decider/forward_search_decider.cppec80268b9e87d71cc407c23835a3fe35a0b873851787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正拖挂车指令重规划拉直判定指令重规划时，根据车头和车挂相对目标航向的偏差决定是否进入拉直流程。默认在两者均小于 30 度时直接触发，或距目标不超过 30 米且两者均小于 60 度时触发。新增角度和近目标距离参数；不满足条件时保留原始途经点，并显式退出当前指令的拉直阶段，同时保留换向重规划跨 Reset 延续拉直状态的既有行为。 2026-08-19 13:53:16 +0800ec80268b9e87d71cc407c23835a3fe35a0b87385fix: 修正拖挂车指令重规划拉直判定editdata/config/cfg_env_const.hppedittasks/deciders/search_decider/forward_search_decider.hppeditdata/config/cfg_env_const.cppedittasks/deciders/search_decider/forward_search_decider.cppdata/ssep/bridge_junction_ec.cpp600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfd1787118796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 取消威海散货引桥终点约束 WHBULK 引桥搜索不再构造终点 tunnel，避免终点附近的额外通道约束影响可行路径搜索，并与前向搜索场景的处理保持一致。 2026-08-19 13:53:16 +0800600a82f2da81d6bc6c5dd3e7e0d7b464dfeb4dfdfix: 取消威海散货引桥终点约束editdata/ssep/bridge_junction_ec.cppplan/prepare/prepare_ogm.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cppdata/ssep/normal_junction_ec.cppdata/ssep/out_yard_junction_ec.cppplan/prepare/prepare_hmi_virtual_obs.cpphmi/common/pnc_graphics_view.hppdata/config/cfg_func_sw.hpphmi/widget/replayer_pnc_mat.cppdata/config/cfg_func_sw.cpphmi/common/drag_image.hpphmi/common/pnc_graphics_view.cppdata/ssep/open_space_ec.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cppdata/ssep/into_yard_junction_ec.cpphmi/widget/pnc_mat.cpphmi/draw/draw_ssep_virtual_obs.cppdata/ssep/hmi_virtual_obs.hppdata/ssep/hmi_virtual_obs_line.hpphmi/draw/draw_ssep_virtual_obs.hppa85bcacc3571310576b58c69da1f20895221d5ec1787118829000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 超视距线支持按高度分层 HMI 绘制超视距线时记录并持久化车辆 Z 值，兼容旧二维配置并默认归入 Z=0。规划、OGM、删除和显示统一匹配车辆最近的高度批次，批次容差为 5 米；界面使用细线和一位小数高度标签区分不同层，并修正标签翻转方向。 2026-08-19 13:53:49 +0800a85bcacc3571310576b58c69da1f20895221d5ecfeat: 超视距线支持按高度分层edithmi/common/pnc_graphics_view.cppedithmi/draw/draw_all.cppedithmi/draw/draw_ssep_virtual_obs.cppeditdata/config/cfg_func_sw.hppeditdata/ssep/reverse_ec.cppedithmi/common/pnc_graphics_view.hppeditdata/ssep/forward_ec.cppeditdata/ssep/open_space_ec.cppeditdata/ssep/into_yard_junction_ec.cppedithmi/widget/pnc_mat_shared.cppedithmi/widget/replayer_pnc_mat.cppeditdata/ssep/normal_junction_ec.cppedithmi/common/drag_image.hppeditplan/prepare/prepare_ogm.cppeditdata/ssep/hmi_virtual_obs.hppeditplan/prepare/prepare_hmi_virtual_obs.cppadddata/ssep/hmi_virtual_obs_line.hppeditdata/ssep/out_yard_junction_ec.cppedithmi/draw/draw_ssep_virtual_obs.hppedithmi/widget/pnc_mat.cppeditdata/config/cfg_func_sw.cppTesting/ssep_path_corridor_test.cppdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppdata/other/ssep_path_corridor.cppdata/other/flow_control.cpp83ebd129874f4f0324d6b24981b7a44b528ffacd1787135367000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 BulkOut 重规划状态误退出重规划期间使用冻结的 SSEP 起点进行 BulkOut 几何判断，并在自动驾驶下保持搜索失败状态，避免旧路径清空后误退出 TRAVEL_OUT。\n\n调整回环包络的起终点消歧，保留终点完成判定，并补充状态切换日志及包络回归测试。 2026-08-19 18:29:27 +080083ebd129874f4f0324d6b24981b7a44b528ffacdfix: 修复 BulkOut 重规划状态误退出editdata/other/flow_control.cppeditdata/other/ssep_path_corridor.cppeditTesting/ssep_path_corridor_test.cppeditdata/app/fsm/task_fsm/task_travel/task_travel_fsm.cppscenarios/scenario.cppscenarios/stage.cpp2ab5ddf13f1f14d0db6434b1aef3df6fc3759cde1787135381000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正横向规划器类型识别以实际路径优化任务识别 WBCA 和 KEB 可用性，补充备用优化及 KEB 车道跟随任务。\n\n同步任务选择器的规划器类型推断，避免仅凭边界任务误标当前横向规划器。 2026-08-19 18:29:41 +08002ab5ddf13f1f14d0db6434b1aef3df6fc3759cdefix: 修正横向规划器类型识别editscenarios/scenario.cppeditscenarios/stage.cppscenarios/bulkload_scenario/bulkload_move_forward_stage.cpp603230f918a2b3c0d90882b18017da80f65cce651787135412000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一 BulkOut 的 SSEP 前向阶段移除非苏锡区域反向 BulkOut 直接切入 backward stage 的特殊分支，使 TRAVEL_OUT 统一从 forward stage 处理。\n\n同步删除不再使用的区域变量。 2026-08-19 18:30:12 +0800603230f918a2b3c0d90882b18017da80f65cce65fix: 统一 BulkOut 的 SSEP 前向阶段editscenarios/bulkload_scenario/bulkload_move_forward_stage.cpptasks/plan/keb_lane_follow_path_task.cppscenarios/scenario.cppdata/config/cfg_hmi.hppalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cppdata/config/cfg_hmi.cppdata/plan/keb_visualize_data.hpphmi/replayer_hmi.cpphmi/widget/diagnose.cpptasks/plan/keb_utils.cpphmi/widget/pnc_mat_shared.cpphmi/draw/draw_all.cpptasks/plan/keb_utils.hpphmi/draw/draw_keb_debug.hppalgorithm/plan/keb_optimizer.cpptasks/plan/keb_path_optimize_task.hpphmi/draw/draw_keb_debug.cppdata/plan_frame.hppdata/plan_frame.cpptasks/plan/keb_lane_follow_path_task.hpphmi/node_hmi.cpp940324c11b5bcee7b5da106957258d714910ee821787150259000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加 KEB 规划可视化与诊断新增正常 KEB 与 SSEP KEB 独立可视化开关，绘制优化路径、车辆包络、边界约束和起终点朝向，并在 Diagnose 中展示运行状态与失败原因。补充异步请求快照和 generation 校验，避免并发规划混画或采用过期结果；对路径、朝向和约束数据采用限量采样与定点压缩序列化，降低快照体积。 2026-08-19 22:37:39 +0800940324c11b5bcee7b5da106957258d714910ee82feat: 增加 KEB 规划可视化与诊断edithmi/widget/diagnose.cppeditdata/plan/keb_visualize_data.hppeditdata/config/cfg_hmi.hppedittasks/plan/keb_path_optimize_task.hppeditalgorithm/plan/keb_optimizer.hppeditdata/config/cfg_hmi.cppeditscenarios/scenario.cppedithmi/node_hmi.cppedithmi/replayer_hmi.cppedittasks/plan/keb_utils.cppaddhmi/draw/draw_keb_debug.cppedittasks/plan/keb_lane_follow_path_task.hppedittasks/plan/keb_path_optimize_task.cppeditdata/plan_frame.hppedithmi/widget/pnc_mat_shared.cppaddhmi/draw/draw_keb_debug.hppedithmi/draw/draw_all.cppedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.cppeditdata/plan_frame.cppedittasks/plan/keb_utils.hpptasks/plan/keb_utils.cpp7af601b341265bf2eea8bdd421b66d1cd768ec9c1787218672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: keb正确返回theta值 2026-08-20 17:37:52 +08007af601b341265bf2eea8bdd421b66d1cd768ec9cfeat: keb正确返回theta值edittasks/plan/keb_utils.cppdata/dp_poly_path/trajectory_cost.hppdata/obstacle/decision/obstacle_decision_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamldata/config/cfg_lat_decide.hppdata/dp_poly_path/trajectory_cost.cppCMakeLists.txtdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cppdata/obstacle/obstacle_decider_attr.cppdata/dp_poly_path/trajectory_cost_test.cppdata/obstacle/obstacle_decider_attr.hppd2286d258075241f2b7ea24a00391e3ef4b699b41787312564000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行边界与会车响应取消纯道路边界的默认硬内缩，保持 dp_poly_sdf_margin_road 为零时的可行域语义。让 MEETING 障碍同帧进入 DP 单侧约束并绕过旧走廊过滤；区分道路侧与车道侧靠边证据，缩短靠边静止车辆和斜停车辆的等待时间，并补充回归测试。 2026-08-21 19:42:44 +0800d2286d258075241f2b7ea24a00391e3ef4b699b4fix: 修复绕行边界与会车响应editdata/config/cfg_lat_decide.cppeditdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/obstacle_decider_attr.hppadddata/dp_poly_path/trajectory_cost_test.cppeditconfig/config_imv/plan.yamladddata/obstacle/decision/obstacle_decision_test.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/dp_poly_path/trajectory_cost.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_lat_decide.hppeditdata/config/cfg_lat_plan.cppeditdata/dp_poly_path/trajectory_cost.cppeditCMakeLists.txteditdata/obstacle/decision/obstacle_decision.hppreplayer/replayer_data_process/load_snap_data.cpp3a89f18713e5e6f0eeaebad127ad588a60f64d3f1787312577000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补充快照加载失败诊断记录快照索引、数据长度、解压和反序列化异常，并在 bag 中不存在有效快照帧时输出明确错误。 2026-08-21 19:42:57 +08003a89f18713e5e6f0eeaebad127ad588a60f64d3ffix: 补充快照加载失败诊断editreplayer/replayer_data_process/load_snap_data.cppdocs/pnc_algorithm_replay_plan.htmlc4884e3684574678c68e2be504809673831e7fae1787312595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 补充算法场景回放建设方案规划 CompactSceneProto、地图接口、生产 Stage/Task 复用、TagFS 场景管理、Web 人工验证与实时可视化，以及自动化回归和版本兼容路线。 2026-08-21 19:43:15 +0800c4884e3684574678c68e2be504809673831e7faedocs: 补充算法场景回放建设方案adddocs/pnc_algorithm_replay_plan.htmldata/config/cfg_func_sw.cppdata/config/cfg_func_sw.hpp94c0965ec463f421dd0a13c38f8cf763facbb2731787390700000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复散货前向阶段 WBCA 规划默认不再跳过散货进场的 WBCA 边界生成与路径优化任务，使 scenario 中配置的规划链正常执行。保留显式功能开关，并统一成员与 ROS 参数缺省值，避免默认配置再次漂移。 2026-08-22 17:25:00 +080094c0965ec463f421dd0a13c38f8cf763facbb273fix: 恢复散货前向阶段 WBCA 规划editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppdata/obstacle/decision/obstacle_decision.hppdata/plan/side_pass_data.cppdata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/plan/side_pass_data.hpp67f281a58406c2c69695d7d49756822406b588a11787393330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复绕行超车目标升级已建立的左绕行动作仅允许将当前实际绕行的授权作业车连续确认后升级为超车目标，避免历史承诺、分类抖动和多目标抢占导致错误提速。同时修正目标丢失释放边界，并以相对时长序列化 SidePass 状态计时，保证旧快照兼容和回放状态连续。 2026-08-22 18:08:50 +080067f281a58406c2c69695d7d49756822406b588a1fix: 修复绕行超车目标升级editdata/obstacle/decision/obstacle_decision.hppeditdata/plan/side_pass_data.cppeditdata/plan/side_pass_data.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/obstacle/decision/obstacle_decision_test.cppplan/prepare/prepare_ogm.cpphmi/draw/draw_map.cppcommon/util/hdmap_wrapper.cpphmi/draw/draw_map.hppcommon/util/hdmap_wrapper.hppplan/prepare/prepare_ogm.hpp00e63fa6a7c3c7140ec7705afa510dc2781796cd1787548133000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 接入条件禁行区域碰撞检测通过 GetConditionNoDrivingRegions 获取车辆周围 100 米内的条件禁行区域，并在 HMI 地图中绘制区域边界。将区域边界按不超过 10 厘米间距采样为虚拟 OGM 点，过滤图幅外点后参与栅格及精细碰撞检测。 2026-08-24 13:08:53 +080000e63fa6a7c3c7140ec7705afa510dc2781796cdfeat: 接入条件禁行区域碰撞检测editplan/prepare/prepare_ogm.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppeditcommon/util/hdmap_wrapper.hppeditcommon/util/hdmap_wrapper.cppeditplan/prepare/prepare_ogm.hpptasks/plan/keb_utils.cppee37c37336da2b60445c231181b857d537afbe711787548291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: keb正确返回theta值 2026-08-24 13:11:31 +0800ee37c37336da2b60445c231181b857d537afbe71feat: keb正确返回theta值edittasks/plan/keb_utils.cpptasks/plan/keb_utils.cppa4774d2541a74d8e1ae10aff81c46afbbd5d78841787564859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 调整 KEB 道钉点碰撞处理将道钉点与路边点一同补绘到 KEB 栅格副本，不再补绘下沉坑点。同步更新类型说明，保持注释与处理逻辑一致。 2026-08-24 17:47:39 +0800a4774d2541a74d8e1ae10aff81c46afbbd5d7884fix: 调整 KEB 道钉点碰撞处理edittasks/plan/keb_utils.cppdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp6301a7a4925ba684530d6e39961038ca231c38351787572131000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 恢复静态聚类凸包绕行占用成熟且确认静止的 cluster 凸包补入侧避栅格，避免稀疏点云之间形成可穿越空隙。同时要求未决 companion 具备自身正向运动证据，并在静止或证据非正时立即释放遗留 mask。 2026-08-24 19:48:51 +08006301a7a4925ba684530d6e39961038ca231c3835fix: 恢复静态聚类凸包绕行占用editdata/boundary/driving_corridor.hppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor_test.cppdata/obstacle/obstacle_decider_attr.cppca0b0eb73d407465bb2da736b9c7d17311eb688d1787572146000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 收紧叉头叉尾纵向扩展叉头和叉尾作为同一设备的相邻部件，分别使用通用前后 5m 扩展会形成过长连续障碍墙；仅将这两类调整为前后 2m，其他静态障碍保持原余量。 2026-08-24 19:49:06 +0800ca0b0eb73d407465bb2da736b9c7d17311eb688dfix: 收紧叉头叉尾纵向扩展editdata/obstacle/obstacle_decider_attr.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/pnc_map.hppdata/map/pnc_map/pnc_map.cppec31e4790fab833c289ebc0cbc30209868610f261787628396000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 PNC 地图道路段转换异常合并前按实际 successor 选择顺序校验车道拓扑，拒绝缺失或重复目标，避免等车道数错位场景导致地图转换失败。恢复两轮道路段合并的数据流，修复首段前驱迭代器越界、横向邻居无效候选和多段拆分遗漏，并补充对应回归测试。 2026-08-25 11:26:36 +0800ec31e4790fab833c289ebc0cbc30209868610f26fix: 修复 PNC 地图道路段转换异常editTesting/routing_map_guard_test.cppeditdata/map/pnc_map/pnc_map.hppeditdata/map/pnc_map/pnc_map.cppdata/plan/start_point_data.cpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/plan/start_point_data.hpptasks/plan/pjpo_task.cppdata/plan/switch_data.cpp71bf2e2ec9e91f143e7a156600d438072fc800ac1787637810000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持变道路径跨阶段连续 - standby 与正式变道统一使用变道权重，并从真实输出历史继承横向起点导数 - 锁存单次变道的距离和世界坐标起终点，完整处理进入、持续、换向和退出生命周期 - 使用固定锚点的五次平滑参考曲线，并在完成距离后收回目标车道边界 - 有有效输出历史时禁止 boost 覆盖首点，避免连续重规划逐帧改形 2026-08-25 14:03:30 +080071bf2e2ec9e91f143e7a156600d438072fc800acfix: 保持变道路径跨阶段连续editdata/plan/start_point_data.hppeditdata/plan/switch_data.cppedittasks/plan/pjpo_task.cppeditdata/plan/start_point_data.cppedittasks/deciders/lat_decider/switching_bounds_decider.cppmath/piecewise_jerk/piecewise_jerk_problem.hppalgorithm/plan/pjpo.cppmath/piecewise_jerk/piecewise_jerk_problem.cppa388f43d9c6293683cd0b34d6c342433b8947d6c1787637831000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提高变道 PJPO 求解稳定性 - 为 piecewise jerk 求解器增加可选的OSQP容差和时间上限配置 - 仅在变道硬起点场景使用1e-5收敛容差与50ms时间预算 - 普通路径规划继续沿用历史默认设置 2026-08-25 14:03:51 +0800a388f43d9c6293683cd0b34d6c342433b8947d6cfix: 提高变道 PJPO 求解稳定性editmath/piecewise_jerk/piecewise_jerk_problem.cppeditmath/piecewise_jerk/piecewise_jerk_problem.hppeditalgorithm/plan/pjpo.cppdata/obstacle/obstacle_decider_attr.cppbb0198284d306240afa9a0322f97ef72c63de2e91787637972000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缩小变道障碍物纵向扩展范围 - 非货叉部件障碍物的前后扩展距离由5米调整为3米 - 货叉头尾部件继续保持2米扩展距离 2026-08-25 14:06:12 +0800bb0198284d306240afa9a0322f97ef72c63de2e9fix: 缩小变道障碍物纵向扩展范围editdata/obstacle/obstacle_decider_attr.cppssep/data_structures/path.cctasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/keb_simulator.hpptasks/plan/keb_path_optimize_task.cppoffboard/bag_to_keb_scene/bag_to_keb_scene.ccreplayer/replayer_data_process/replayer_data_extraction.cppssep/protos/path.protodata/plan/start_point_data.hppdata/plan/start_point_data.cppcommon/log/log_config.cpptasks/plan/keb_utils.cppcommon/log/log_config.hpptasks/plan/keb_utils.hppoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/keb_simulator.cc01d91db117eb92069cdd33846ea3c62e855b54901787657498000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV KEB 起步曲率问题修复与日志跨天切换 2026-08-25 19:31:38 +080001d91db117eb92069cdd33846ea3c62e855b5490feat: IMV KEB 起步曲率问题修复与日志跨天切换edittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/keb_path_opt_cli.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditdata/plan/start_point_data.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditssep/protos/path.protoeditcommon/log/log_config.cppeditcommon/log/log_config.hppedittasks/plan/keb_utils.hppeditoffboard/keb_path_opt_cli/keb_simulator.hppedittasks/plan/keb_lane_follow_path_task.cppeditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/data_structures/path.ccedittasks/plan/keb_utils.cppeditdata/plan/start_point_data.hppeditproto/keb_scene.protodata/config/cfg_func_sw.cppdata/constrain/disable_stop_range.cppdata/config/cfg_func_sw.hpp64a4d38d2d461236fa08ac164fa8a4faa7aa7c0f1787729289000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加普通路口停车功能开关新增 use_func_normal_junction_park 配置，默认保持开启。关闭时跳过普通横纵道路口的阻塞停车范围，不影响堆场、桥区和码头面专用开关。 2026-08-26 15:28:09 +080064a4d38d2d461236fa08ac164fa8a4faa7aa7c0ffeat: 增加普通路口停车功能开关editdata/constrain/disable_stop_range.cppeditdata/config/cfg_func_sw.hppeditdata/config/cfg_func_sw.cppdata/config/cfg_lat_plan.hppdata/obstacle/decision/obstacle_decision.hppconfig/config_imv/plan.yamldata/obstacle/decision/obstacle_decision_test.cppdata/obstacle/decision/obstacle_decision.cppdata/config/cfg_lat_plan.cpp381dba9bc8b84e4946dcaad7e5a258258588008a1787729761000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持大半径弯道主动超车基于完整 bend 区间的最大绝对曲率判断超车准入，普通路口、区间覆盖不完整及无效地图数据继续保守禁止。新增最小弯道半径配置及序列化版本，并补充半径边界、非法输入和区间覆盖回归测试。 2026-08-26 15:36:01 +0800381dba9bc8b84e4946dcaad7e5a258258588008afeat: 支持大半径弯道主动超车editdata/config/cfg_lat_plan.hppeditdata/obstacle/decision/obstacle_decision.hppeditdata/obstacle/decision/obstacle_decision.cppeditdata/config/cfg_lat_plan.cppeditdata/obstacle/decision/obstacle_decision_test.cppeditconfig/config_imv/plan.yamlssep/data_structures/ssep_input.hppdata/ssep/ssep_activation.cppssep/data_structures/ssep_input.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.proto9b2da02f207417d7afef10597db8eabe3d5c6fe21787757535000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善SSEP图景重规划回放在图景协议中保存重规划状态和上一帧路径，并在离线回放时恢复对应上下文。统一保存平滑路径的前进后退方向，避免多段路径在图景中被误判为未平滑。 2026-08-26 23:18:55 +08009b2da02f207417d7afef10597db8eabe3d5c6fe2feat: 完善SSEP图景重规划回放editssep/protos/scene.protoeditdata/ssep/ssep_activation.cppeditssep/data_structures/ssep_input.cceditssep/data_structures/ssep_input.hppeditssep/offboard/ssep_planner_wrapper.ccssep/offboard/servers/scene_vis_server.ccssep/offboard/servers/scene_vis_html_template.cc8bc7aba849ad45c43f3ab30abc1246727c2f979a1787757548000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强SSEP图景可视化增加场景摘要、搜索与车辆参数侧栏，并同时展示当前路径和上一帧路径。完善任意目录导航及路径转义，避免特殊文件名破坏页面内容。 2026-08-26 23:19:08 +08008bc7aba849ad45c43f3ab30abc1246727c2f979afeat: 增强SSEP图景可视化editssep/offboard/servers/scene_vis_html_template.cceditssep/offboard/servers/scene_vis_server.ccssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.hssep/scenarios/imv_enter_station_planner.hssep/scenarios/imv_general_planner.hdata/ssep/forward_ec.cppssep/coarse_search/searcher_builders/imv_general_searcher_builder.ccssep/scenarios/imv_multi_segment_parking_planner.hssep/scenarios/scenario_planner_factory.hssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.hssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cpptasks/deciders/search_decider/forward_search_decider.cppssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.ccec78fbb6be550122d6fff2557f734722f067b9611787757566000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增强振石IMV多段搜索能力修正IMV指令重规划的途经点和末段方向判断，末段重搜索可取消无效途经点。为IMV多段泊车增加斜行兜底及可配置末端方向，并仅在振石BulkOut启用General双向搜索、安全裕度和起点约束取消。 2026-08-26 23:19:26 +0800ec78fbb6be550122d6fff2557f734722f067b961feat: 增强振石IMV多段搜索能力editdata/ssep/forward_ec.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.cceditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.heditssep/coarse_search/searcher_builders/imv_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/imv_multi_segment_parking_planner.heditssep/scenarios/imv_enter_station_planner.hedittasks/deciders/search_decider/forward_search_decider.cppeditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/imv_general_planner.heditdata/ssep/ssep_ec.cppeditssep/coarse_search/motion_primitive_sampler/dir_change_path_extention_decorator.heditssep/scenarios/scenario_planner_factory.hssep/coarse_search/evaluator/evaluator.hssep/coarse_search/evaluator/trailer_collision_cost_computer.hssep/coarse_search/evaluator/collision_cost_computer.hd2e4daf5f126db4bb15afa6f36acef79498be3a91787757580000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复SSEP碰撞忽略区边界误判为车体和拖挂碰撞忽略区增加微小距离容差，吸收UTM大坐标累计距离的浮点误差。保持原有忽略距离语义，超过容差后仍执行硬碰撞检查。 2026-08-26 23:19:40 +0800d2e4daf5f126db4bb15afa6f36acef79498be3a9fix: 修复SSEP碰撞忽略区边界误判editssep/coarse_search/evaluator/collision_cost_computer.heditssep/coarse_search/evaluator/evaluator.heditssep/coarse_search/evaluator/trailer_collision_cost_computer.hdata/config/cfg_stage.cppscenarios/task_condition_evaluator.hppscenarios/task_condition_evaluator.cppdata/config/cfg_stage.hpp660f5d6b0ad7055ce80811a571d7f04a7928b0011787757596000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持出堆场分段选择横向规划器新增出堆场非末段条件，使任务选择器能够在中间段使用PJPO，并为末段保留默认KEB。 2026-08-26 23:19:56 +0800660f5d6b0ad7055ce80811a571d7f04a7928b001feat: 支持出堆场分段选择横向规划器editscenarios/task_condition_evaluator.hppeditscenarios/task_condition_evaluator.cppeditdata/config/cfg_stage.hppeditdata/config/cfg_stage.cppssep/test/ssep_planner_test.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/.gitignoressep/offboard/scene_replay/replay_scene_frame_cli.ccssep/test/local_regression/imv_multisegment_manifest.tsvssep/offboard/scene_replay/README.md6f19ee67eb3cd8502143874661f896dece0cfa461787757611000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 建立SSEP本地自动化回归集新增六个IMV多段历史场景清单和一键回放脚本，校验规划状态、场景类型及路径段数。回放工具支持规划失败返回非零退出码，并补充重规划上下文、基元类型和碰撞边界单测。 2026-08-26 23:20:11 +08006f19ee67eb3cd8502143874661f896dece0cfa46test: 建立SSEP本地自动化回归集addssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/README.mdeditssep/test/ssep_planner_test.ccaddssep/test/local_regression/.gitignoreeditssep/offboard/scene_replay/README.mdeditssep/offboard/scene_replay/replay_scene_frame_cli.ccaddssep/test/local_regression/imv_multisegment_manifest.tsvdata/boundary/driving_corridor.cppdata/boundary/driving_corridor_test.cppdata/boundary/driving_corridor.hpp689d0c916f5f68860188f267dc1626de8cd8776b1787800892000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 NO-SHIFT 末端走廊边界污染首次进入 NO-SHIFT 后截断道路墙折线，避免末端转弯道路墙通过全局 SDF 反向切入 DP gap。贴 shift 的几何端点仅采信近距离真实占用，防止远处点云接管来源并触发额外内缩；补充过渡生命周期和来源回标回归测试。 2026-08-27 11:21:32 +0800689d0c916f5f68860188f267dc1626de8cd8776bfix: 修复 NO-SHIFT 末端走廊边界污染editdata/boundary/driving_corridor_test.cppeditdata/boundary/driving_corridor.cppeditdata/boundary/driving_corridor.hppdata/other/flow_control_test.cppdata/map/pnc_map/path_overlap.hppdata/other/flow_control.cppdata/plan/guide_line.cppdata/constrain/longitude_constrain.cppconfig/config_imv/plan.yamltasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hppdata/other/flow_control.hppdata/config/cfg_func_sw.cppCMakeLists.txtdata/config/cfg_safe_const.hppdata/map/pnc_map/pnc_map_path.cppdata/config/cfg_long_plan.cppdata/config/cfg_safe_const.cppdata/plan/guide_line_base.hpp1c3a8293db4bd0936fd728ba20b3c8b2161dbdb21787808674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持闸口精确限速与动态跟车接入 REGION_GATE 地图区间并按距闸口距离反推当前限速。\n在闸口控制区内按实车速度平滑缩短跟车距离，车头越过闸口后解除控制。\n增加新旧功能独立开关、配置快照兼容以及双向区间和限速回归测试。 2026-08-27 13:31:14 +08001c3a8293db4bd0936fd728ba20b3c8b2161dbdb2feat: 支持闸口精确限速与动态跟车editdata/config/cfg_safe_const.hppeditdata/plan/guide_line.cppeditdata/map/pnc_map/pnc_map_path.cppeditconfig/config_imv/plan.yamladddata/other/flow_control_test.cppeditdata/constrain/longitude_constrain.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/config/cfg_long_plan.cppeditdata/plan/guide_line_base.hppeditdata/config/cfg_func_sw.hppeditdata/map/pnc_map/path_overlap.hppeditdata/other/flow_control.hppeditCMakeLists.txteditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.cppeditdata/other/flow_control.cppdata/config/cfg_safe_const.hppdata/other/flow_control_test.cppdata/boundary/driving_corridor.cppdata/config/cfg_safe_const.cppconfig/config_imv/plan.yamldata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppae89670c40080961c7392a34f56c53e1027b92d01787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 过滤闸口杆体绕行点云依据 REGION_GATE 构造横向走廊掩膜，过滤闸杆原始点云和静态簇凸包。\n保留纵向碰撞 OGM，使闸杆关闭时仍可停车，同时避免触发误绕行。 2026-08-27 13:43:33 +0800ae89670c40080961c7392a34f56c53e1027b92d0fix: 过滤闸口杆体绕行点云editconfig/config_imv/plan.yamleditdata/config/cfg_func_sw.hppeditdata/config/cfg_safe_const.cppeditdata/config/cfg_safe_const.hppeditdata/boundary/driving_corridor.cppeditdata/config/cfg_func_sw.cppeditdata/other/flow_control_test.cpphmi/draw/draw_guide_line.cpphmi/draw/draw_guide_line.hpp987b326a56d32d3f7ab0af28cc10b4f451ab38b71787809413000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 绘制引导线区域缩写沿引导线绘制 region overlap 区间、起止标记和类型缩写。\n使用简短标签区分限速、Guardian、贝位、短跟车和闸口区域，避免 HMI 过度拥挤。 2026-08-27 13:43:33 +0800987b326a56d32d3f7ab0af28cc10b4f451ab38b7feat: 绘制引导线区域缩写edithmi/draw/draw_guide_line.cppedithmi/draw/draw_guide_line.hppdata/config/cfg_region.hppdata/ssep/forward_ec.cppdata/config/cfg_region.cppd85195e6b752b3478cc152caf7570d1529fedf531787819595000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加魏桥区域规划支持新增魏桥地理围栏及区域枚举，并使前向 SSEP 的朝向选择、起终点通道、途经点参考线和搜索途经点逻辑复用太阳纸业配置。 2026-08-27 16:33:15 +0800d85195e6b752b3478cc152caf7570d1529fedf53feat: 增加魏桥区域规划支持editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/config/cfg_region.cppdata/plan/ssep_data.cppf3455f4399b88ef2873bcfd385bb9d6cbd1e10161787819606000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向停车后 SSEP 切段失败当车辆由当前分段换向线明确触发停车时，以约束来源、顺序索引和末点位置确认到达，不再因局部路径与原始 SSEP 的小幅航向偏差永久卡住；其他停车原因继续保留航向校验。 2026-08-27 16:33:26 +0800f3455f4399b88ef2873bcfd385bb9d6cbd1e1016fix: 修复换向停车后 SSEP 切段失败editdata/plan/ssep_data.cpptasks/deciders/lat_decider/path_bounds_decider.cpp2cf03c30441cb54f71063b8782eecf7b6e510b661787819619000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复倒车 OpenSpace 边界配置失效倒车 PJPO 在 OpenSpace 断面复用 RoadBoundary 的横向边界，使 open_space_bound_width 对正反向路径一致生效；RoadBoundary 不可用或非 OpenSpace 时保持通用倒车边界回退。 2026-08-27 16:33:39 +08002cf03c30441cb54f71063b8782eecf7b6e510b66fix: 修复倒车 OpenSpace 边界配置失效edittasks/deciders/lat_decider/path_bounds_decider.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/into_yard_junction_ec.cppdata/ssep/out_yard_junction_ec.cpp466e27ed4100e1dcc4d165e54c874a97b5677ad11787839774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加中铁联集区域规划支持新增中铁联集区域识别，并为 IMV 默认选择通用 SSEP 场景。调整进出场景的起终点直线延伸距离，以适配现场作业空间。 2026-08-27 22:09:34 +0800466e27ed4100e1dcc4d165e54c874a97b5677ad1feat: 增加中铁联集区域规划支持editdata/config/cfg_region.cppeditdata/ssep/into_yard_junction_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/out_yard_junction_ec.cppeditdata/ssep/ssep_ec.cpphmi/draw/draw_keb_debug.cpp30f09239c6141088c9e560d83e670118b0caf2cf1787839796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 KEB 调试界面误绘挂车绘制挂车包络前同时校验车型和挂车姿态有效性，避免 IMV 的占位航向被当作真实挂车姿态。 2026-08-27 22:09:56 +080030f09239c6141088c9e560d83e670118b0caf2cffix: 修复 KEB 调试界面误绘挂车edithmi/draw/draw_keb_debug.cppssep/offboard/servers/scene_vis_html_template.ccssep/scenarios/imv_general_planner.hssep/offboard/ssep_planner_wrapper.ccdata/ssep/ssep_activation.hppssep/scenarios/scenario_planner_interface.hssep/ssep_planner.ccdata/ssep/ssep_activation.cppssep/ssep_planner.hssep/protos/scene.protossep/offboard/scene_replay/README.mdac005686e1bc1dc394ad76044a973a46ff77b5941787839855000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 SSEP 失败场景诊断场景文件新增粗搜索路径和规划失败原因，并在车端落盘与离线转存中保持一致。网页可视化展示失败详情和平滑前路径，同时重置跨帧规划结果以避免旧数据污染。 2026-08-27 22:10:55 +0800ac005686e1bc1dc394ad76044a973a46ff77b594feat: 完善 SSEP 失败场景诊断editssep/scenarios/imv_general_planner.heditssep/ssep_planner.cceditssep/ssep_planner.heditssep/offboard/servers/scene_vis_html_template.cceditdata/ssep/ssep_activation.cppeditdata/ssep/ssep_activation.hppeditssep/offboard/ssep_planner_wrapper.cceditssep/offboard/scene_replay/README.mdeditssep/protos/scene.protoeditssep/scenarios/scenario_planner_interface.hssep/test/ssep_planner_test.ccssep/scenarios/imv_general_planner.hssep/test/local_regression/README.mdssep/test/local_regression/imv_general_keb_manifest.tsvssep/keb_optimizer/imv_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/keb_problem.hssep/keb_optimizer/keb_problem.ccc12c478083bb66cec5fae4cdb553c43ca8dbdaec1787839874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复 IMV 斜行 KEB 运动学失配按路径速度方向补齐并对齐 beta/beta_dot 初值，提高 IMVGeneral 运动学权重，避免碰撞软代价将路径推成不可执行状态。补充正向、倒车斜行单测及两个现场场景的正式回归清单。 2026-08-27 22:11:14 +0800c12c478083bb66cec5fae4cdb553c43ca8dbdaecfix: 修复 IMV 斜行 KEB 运动学失配editssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/imv_keb_optimizer.cceditssep/keb_optimizer/imv_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/scenarios/imv_general_planner.heditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.haddssep/test/local_regression/imv_general_keb_manifest.tsvtasks/deciders/other_decider/replan_decider.cpp0014947d31a6d5ab3d921b4fbdb4afb898be19c61787885522000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 限制连续开放空间重规划触发范围仅允许已进入复用状态的 OpenSpace SSEP 触发连续开放空间重规划。\n避免出堆场 Forward SSEP 因终点相对待用参考线偏移而反复重搜索。 2026-08-28 10:52:02 +08000014947d31a6d5ab3d921b4fbdb4afb898be19c6fix: 限制连续开放空间重规划触发范围edittasks/deciders/other_decider/replan_decider.cppdata/config/cfg_safe_const.cpp78050c310eba9d47334b0c9a0aab2f2c41f4bcb71787885610000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提前闸口控制介入距离将闸口控制默认起始距离由 10 米调整为 15 米，使车辆更早进入闸口控制范围。 2026-08-28 10:53:30 +080078050c310eba9d47334b0c9a0aab2f2c41f4bcb7fix: 提前闸口控制介入距离editdata/config/cfg_safe_const.cppdata/config/cfg_func_sw.cppdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppdata/config/cfg_func_sw.hpp95abd6611a10084bdd69c0224af7bb14018b14911787900280000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持配置堆高机靠近时的锁定时机新增 MOVE 阶段堆高机靠近切换 LOCK 的独立功能开关。关闭该开关后，车辆远离终点时保持 MOVE；接近终点进入 Align1st 后，仍可在堆高机靠近时切换 LOCK，并保持普通堆场任务原有行为。 2026-08-28 14:58:00 +080095abd6611a10084bdd69c0224af7bb14018b1491feat: 支持配置堆高机靠近时的锁定时机editdata/config/cfg_func_sw.cppeditdata/app/fsm/task_fsm/task_align_fsm/task_align_fsm.cppeditdata/config/cfg_func_sw.hppTesting/routing_map_guard_test.cppdata/map/reference/reference_road_section.cppbe97bd11818392827b82fb21f3d9b753b9b137ec1787931778000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 增强参考道路段空数据防护在弯道黑名单判断前校验道路段和路口重叠信息，避免空容器或空指针访问。\n\n路口元数据缺失时按黑名单安全降级，并补充对应回归测试。 2026-08-28 23:42:58 +0800be97bd11818392827b82fb21f3d9b753b9b137ecfix: 增强参考道路段空数据防护editdata/map/reference/reference_road_section.cppeditTesting/routing_map_guard_test.cppssep/scenarios/stitching_replanner.hssep/data_structures/ssep_input.hppssep/test/ssep_planner_test.ccssep/ssep_planner.ccssep/offboard/ssep_planner_wrapper.ccssep/protos/scene.protof21ee3c634f23a0acf6e7975861e786781cd71dd1787931801000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 SSEP 历史路径热启动重规划新增 kPathWarmStart 输入状态，将历史路径裁剪到当前姿态后在最新环境约束下重新优化。\n\n补充目标一致性、姿态匹配、碰撞、自交和最短路径校验；热启动失败时回退完整搜索，并兼容离线场景协议。 2026-08-28 23:43:21 +0800f21ee3c634f23a0acf6e7975861e786781cd71ddfeat: 支持 SSEP 历史路径热启动重规划editssep/data_structures/ssep_input.hppeditssep/test/ssep_planner_test.cceditssep/ssep_planner.cceditssep/offboard/ssep_planner_wrapper.cceditssep/scenarios/stitching_replanner.heditssep/protos/scene.protodata/plan/ssep_data.cppdata/other/flow_control.cppdata/plan/ssep_data.hppdata/plan/guide_line.cppplan/prepare/prepare_status.cpptasks/plan/keb_path_optimize_task.cpptasks/deciders/search_decider/seaside_junction_search_decider.cppdata/decide/decide_reaction.hppdata/other/flow_control.hpptasks/plan/ssep_task.cppdata/ssep/ssep_common.hppscenarios/task_condition_evaluator.cpptasks/deciders/search_decider/forward_search_decider.cpptasks/deciders/other_decider/replan_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cpptasks/deciders/search_decider/reverse_search_decider.cpptasks/deciders/search_decider/into_yard_junction_search_decider.cpptasks/deciders/other_decider/replan_decider.hpptasks/deciders/search_decider/ex_lane_change_search_decider.cppdata/ssep/ssep_ec.cpptasks/other_tasks/create_reference_line.cpptasks/deciders/search_decider/bridge_junction_search_decider.cppTesting/ssep_path_corridor_test.cpptasks/plan/smooth_task.cpptasks/deciders/search_decider/out_yard_junction_search_decider.cppdata/ssep/reverse_ec.cppdata/ssep/forward_ec.cpptasks/deciders/search_decider/open_space_search_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cppdata/ssep/into_yard_junction_ec.cpptasks/plan/keb_path_optimize_task.hpp8c40c03db463ae1c8a77fcb84bbcfa029c1baecf1787933565000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一重规划上下文与路径连续性集中管理重规划原因、搜索重启、历史路径 warm-start 和输出保持策略，SearchDecider 仅消费统一上下文。输出连续性统一由已生效 ReferenceLine 承担，SSEP 只保留原始搜索路径用于 warm-start；重搜期间 GuideLine 按正常模式重建，KEB 保持上一条成功输出且不切换 PJPO。人工重规划在 Junction 中复用历史搜索路径，ForwardSearch 重建多段拓扑时禁用 warm-start；补充低贝位稳定判断、同路口校验、快照恢复和回归测试。 2026-08-29 00:12:45 +08008c40c03db463ae1c8a77fcb84bbcfa029c1baecffix: 统一重规划上下文与路径连续性editdata/ssep/ssep_ec.cppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppeditdata/ssep/reverse_ec.cppedittasks/deciders/search_decider/reverse_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/other/flow_control.cppedittasks/deciders/search_decider/open_space_search_decider.cppedittasks/plan/smooth_task.cppedittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/plan/ssep_task.cppeditscenarios/task_condition_evaluator.cppeditdata/plan/guide_line.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/into_yard_junction_ec.cppeditdata/other/flow_control.hppeditdata/ssep/ssep_common.hppedittasks/deciders/search_decider/seaside_junction_search_decider.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppedittasks/deciders/search_decider/ex_lane_change_search_decider.cppedittasks/deciders/search_decider/into_yard_junction_search_decider.cppedittasks/deciders/search_decider/forward_search_decider.cppeditdata/plan/ssep_data.hppeditplan/prepare/prepare_status.cppeditdata/ssep/forward_ec.cppedittasks/deciders/search_decider/out_yard_junction_search_decider.cppedittasks/deciders/search_decider/bridge_junction_search_decider.cppedittasks/other_tasks/create_reference_line.cppedittasks/plan/keb_path_optimize_task.cpphmi/widget/diagnose.cppreplayer/replayer_data_process/replayer_data_extraction.cpp6d37803e28c9fbd14955f9a37cbc03728f9863dc1787933571000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善重规划诊断与回放标记 HMI 在重搜全过程显示持久化触发原因，并区分人工触发、低贝位、路径换向等类型。\n\n回放导出统一识别跨帧重搜状态，避免命令脉冲结束后错误记录为正常 KEB 优化。 2026-08-29 00:12:51 +08006d37803e28c9fbd14955f9a37cbc03728f9863dcfeat: 完善重规划诊断与回放标记edithmi/widget/diagnose.cppeditreplayer/replayer_data_process/replayer_data_extraction.cppTesting/routing_map_guard_test.cpptasks/deciders/long_decider/constrain_decider.cppdata/plan/guide_line.cpptasks/deciders/long_decider/constrain_decider.hpp9f8dc40070d828bd0a70c2153605c7871ece79d11788059609000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止空导引线限速触发规划崩溃在云端限速生成前校验导引线、车辆投影和限速数据，失效时生成无轨迹停止约束并记录限频诊断。将空限速查询改为返回结束哨兵，并补充 Reset、持续失效和正常恢复的回归测试。 2026-08-30 11:13:29 +08009f8dc40070d828bd0a70c2153605c7871ece79d1fix: 防止空导引线限速触发规划崩溃edittasks/deciders/long_decider/constrain_decider.hppeditTesting/routing_map_guard_test.cppeditdata/plan/guide_line.cppedittasks/deciders/long_decider/constrain_decider.cppdata/vehicle/request_routing_data.cppf8959654beb436a77bfa6aa19eb31c069be6f1781788144788000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 缓冲区近终点跳过地图连续性检查缓冲区任务接近地图终点时，不再对新 routing 执行路径连续性校验，避免终点附近因路径切换产生 routing 冲突。同时整理相关日志语句格式。 2026-08-31 10:53:08 +0800f8959654beb436a77bfa6aa19eb31c069be6f178fix: 缓冲区近终点跳过地图连续性检查editdata/vehicle/request_routing_data.cppdata/plan/switch_data.hppdata/constrain/block_data.cpphmi/draw/draw_perception.cppdata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.cpptasks/deciders/long_decider/constrain_decider.cppdata/config/cfg_func_sw.hpptasks/deciders/lat_decider/lane_change_decider.cppdata/config/cfg_func_sw.cppdata/obstacle/cluster_lane_change_safety.hppCMakeLists.txtdata/config/cfg_safe_const.hppdata/constrain/disable_stop_range.cppdata/constrain/disable_stop_range.hppdata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_motion_tracker.cppdata/constrain/temporary_stop_data.cppdata/obstacle/cluster_motion_tracker.hppdata/constrain/block_data.hpp81d6110f2d40700f8c92d756b96e818bedc622b51788184469000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 增加聚类障碍物变道安全防护建立普通目标与多聚类片段之间的稳定实体关联，使用跟踪速度和分段 capsule 评估变道路径风险，覆盖目标 ID 切换和重复分裂场景。变道准备阶段严格检查运动与未知聚类，SWITCHING 仅检查确认运动聚类，并在变道早期发现风险时于车头前生成不可跳过的立即停车线；静态聚类继续由 OGM 防护。增加默认开启的功能开关、安全参数、耗时诊断及生命周期回归测试。 2026-08-31 21:54:29 +080081d6110f2d40700f8c92d756b96e818bedc622b5feat: 增加聚类障碍物变道安全防护editdata/plan/switch_data.cppeditdata/constrain/temporary_stop_data.cppeditdata/config/cfg_func_sw.hppedithmi/draw/draw_perception.cppeditdata/config/cfg_safe_const.cppeditdata/constrain/disable_stop_range.hppeditdata/plan/switch_data.hppeditdata/obstacle/cluster_motion_tracker.cppedittasks/deciders/lat_decider/lane_change_decider.cppeditdata/constrain/block_data.cppeditdata/constrain/block_data.hppedittasks/deciders/long_decider/constrain_decider.cppadddata/obstacle/cluster_lane_change_safety_test.cppeditdata/obstacle/cluster_motion_tracker.hppadddata/obstacle/cluster_lane_change_safety.hppeditdata/config/cfg_func_sw.cppeditdata/config/cfg_safe_const.hppeditdata/constrain/disable_stop_range.cppeditCMakeLists.txtadddata/obstacle/cluster_lane_change_safety.cppdata/plan/switch_data.hpptasks/deciders/lat_decider/switching_bounds_decider.cppdata/config/cfg_safe_const.hppconfig/config_truck/plan.yamldata/config/cfg_safe_const.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/plan/switch_data.cppdata/config/cfg_lat_decide.cppconfig/config_imv/plan.yamlconfig/config_car/plan.yamlconfig/config_truck/config_truck_reverse/plan.yamldata/config/cfg_lat_decide.hppc4928beb1edd413168b66b616293e4c04ada67f71788218976000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 优化普通路口变道衔接使用普通变道专用限速并补齐配置快照兼容。\n在正式进入变道时固化边界锚点，准备阶段保持边界滚动更新。\n结合状态等待、变道距离和稳定余量提前发起普通路口变道。 2026-09-01 07:29:36 +0800c4928beb1edd413168b66b616293e4c04ada67f7fix: 优化普通路口变道衔接editconfig/config_truck/config_truck_reverse/plan.yamleditdata/config/cfg_safe_const.cppeditdata/config/cfg_lat_decide.cppeditconfig/config_imv/plan.yamledittasks/deciders/lat_decider/switching_bounds_decider.cppeditconfig/config_truck/plan.yamleditconfig/config_car/plan.yamleditdata/plan/switch_data.cppeditdata/config/cfg_safe_const.hppeditdata/plan/switch_data.hppeditdata/config/cfg_lat_decide.hppeditdata/obstacle/cluster_lane_change_safety_test.cppdata/obstacle/cluster_lane_change_safety_test.cppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cpp8cc04ff95d5399ab335829c6cdffc5cd223f45ec1788219001000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 搜索临停轨迹就绪后恢复行驶等待搜索进入 MOVE_BRAKE 或 MOVE_NSTOP 时，在搜索轨迹可复用且不存在其他制动约束后直接恢复 MOVE_NORMAL。\n避免车辆已经具备可行路径后仍刹停并再次起步。 2026-09-01 07:30:01 +08008cc04ff95d5399ab335829c6cdffc5cd223f45ecfix: 搜索临停轨迹就绪后恢复行驶editdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.cppeditdata/obstacle/cluster_lane_change_safety_test.cppeditdata/app/fsm/motion_fsm/motion_move_fsm/motion_move_fsm.hppdata/plan/switch_data.cpp56620ce6e9f42170bb070ca9004a64ab8369d3161788219103000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 隔离不同车型的变道锚点维护仅 Truck 的 PJPO 变道在进入 SWITCHING 时刷新通用几何锚点。\nIMV 继续由 LANE_CHANGE_PATH_TASK_V2 维护生成路径及对应起终点，避免锚点与实际路径不一致。 2026-09-01 07:31:43 +080056620ce6e9f42170bb070ca9004a64ab8369d316fix: 隔离不同车型的变道锚点维护editdata/plan/switch_data.cppdata/ssep/seaside_junction_ec.cppdata/ssep/out_yard_junction_ec.cppdata/ssep/bridge_junction_ec.cppdata/ssep/normal_junction_ec.cpp70c9f125409fc590ff6eb857b6b2823cdafe07c81788225213000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一路口搜索终点参考线将普通路口、引桥、码头面和出堆场搜索的终点计算、裁剪回退及搜索参考位姿统一到原始参考线坐标域。避免 fallback 重构时将原始停止线 s 用到滚动平滑参考线上，导致搜索终点沿路线回退；同时修复出堆场跨路口终点局部变量遮蔽成员的问题。 2026-09-01 09:13:33 +080070c9f125409fc590ff6eb857b6b2823cdafe07c8fix: 统一路口搜索终点参考线editdata/ssep/out_yard_junction_ec.cppeditdata/ssep/bridge_junction_ec.cppeditdata/ssep/normal_junction_ec.cppeditdata/ssep/seaside_junction_ec.cppdata/config/cfg_env_const.hppdata/ssep/forward_ec.cpptasks/deciders/long_decider/constrain_decider.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cppssep/scenarios/scenario_planner_factory.hssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.ccssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.hdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hpphmi/draw/draw_map.hppplan/prepare/prepare_objs.cppdata/plan_frame.hpphmi/draw/draw_map.cppssep/scenarios/tractor_trailer_multi_segment_parking_planner.hdata/plan_frame.cppssep/scenarios/tractor_trailer_single_segment_parking_planner.h895bced1d9a7d226c22028a18cd867a7513475231788239920000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add trailer parking safety handling 2026-09-01 13:18:40 +0800895bced1d9a7d226c22028a18cd867a751347523feat: add trailer parking safety handlingeditdata/ssep/forward_ec.cppeditplan/prepare/prepare_objs.cppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.cceditssep/scenarios/tractor_trailer_multi_segment_parking_planner.heditdata/config/cfg_env_const.cppeditdata/plan_frame.hppadddata/ssep/trailer_parking_safety.cppedithmi/draw/draw_map.hppedithmi/draw/draw_map.cppadddata/ssep/trailer_parking_safety.hppeditssep/coarse_search/searcher_builders/tractor_trailer_multi_segment_parking_bidirectional_searcher_builder.heditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/plan_frame.cppeditssep/scenarios/scenario_planner_factory.heditssep/scenarios/tractor_trailer_single_segment_parking_planner.hedittasks/deciders/long_decider/constrain_decider.hpptasks/plan/keb_lane_follow_path_task.cppreplayer/replayer_data_process/replayer_data_process.cppssep/keb_optimizer/rigid_truck_keb_optimizer.hoffboard/keb_path_opt_cli/keb_scene_converter.ccoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_path_optimize_task.cpptasks/plan/keb_utils_core.cppdata/config/cfg_lat_plan.hppoffboard/keb_path_opt_cli/closed_loop_utils.ccdata/config/cfg_lat_plan.cppssep/keb_optimizer/tractor_trailer_keb_optimizer.halgorithm/plan/keb_optimizer.cppoffboard/keb_path_opt_cli/keb_simulator.ccproto/keb_scene.protossep/keb_optimizer/rigid_truck_keb_optimizer.ccssep/keb_optimizer/imv_keb_optimizer.hssep/keb_optimizer/imv_keb_optimizer.ccreplayer/replayer_data_process/replayer_data_extraction.cppdata/plan/keb_visualize_data.hppoffboard/keb_path_opt_cli/keb_scene_converter.hpptasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppssep/keb_optimizer/tractor_trailer_keb_optimizer.cctasks/plan/keb_utils.hpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_lane_follow_path_task.hppc3f9f84f2e4b1b2b249d71f9ea5909012143a4aa1788244560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持 KEB roadside 分层规划将 roadside 与普通 underlying OGM 分层建图并使用独立安全阈值，覆盖 IMV、刚性卡车以及牵引车和挂车包络。完善堆场边界不扩展、LaneFollow 异步路径复用、PathOptimize warm-start 状态拆分、KebScene presence 兼容及 replayer 输入重建。 2026-09-01 14:36:00 +0800c3f9f84f2e4b1b2b249d71f9ea5909012143a4aafeat: 支持 KEB roadside 分层规划editssep/keb_optimizer/imv_keb_optimizer.heditdata/config/cfg_lat_plan.cppedittasks/plan/keb_lane_follow_path_task.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditoffboard/keb_path_opt_cli/keb_simulator.cceditssep/keb_optimizer/imv_keb_optimizer.ccedittasks/plan/keb_utils_core.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditreplayer/replayer_data_process/replayer_data_extraction.cppeditssep/keb_optimizer/rigid_truck_keb_optimizer.cceditssep/keb_optimizer/rigid_truck_keb_optimizer.heditreplayer/replayer_data_process/replayer_data_process.cppeditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditdata/plan/keb_visualize_data.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.hppedittasks/plan/keb_utils.cppeditalgorithm/plan/keb_optimizer.hppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.cppeditoffboard/keb_path_opt_cli/closed_loop_utils.cceditdata/config/cfg_lat_plan.hppeditoffboard/keb_path_opt_cli/keb_scene_converter.ccedittasks/plan/keb_utils_core.hppeditproto/keb_scene.protoedittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_lane_follow_path_task.hppeditalgorithm/plan/keb_optimizer.cpphmi/widget/diagnose.cppoffboard/keb_vis_server/foxglove/generate_protos.shoffboard/keb_vis_server/foxglove/keb_to_mcap.pyhmi/draw/draw_perception.cppoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.ccoffboard/keb_vis_server/keb_vis_html_template.cce6c0f326747db692ee5e7fa3d2106806d0032dad1788244592000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 完善 KEB roadside 分类可视化在 HMI、Diagnose、Web Viewer、CLI debug viewer 和 Foxglove 中独立显示 roadside 层及其开关、阈值和最小间距。同时修复 Foxglove Python proto 的生成目录层级。 2026-09-01 14:36:32 +0800e6c0f326747db692ee5e7fa3d2106806d0032dadfeat: 完善 KEB roadside 分类可视化editoffboard/keb_path_opt_cli/keb_optimization_debug_visualizer.cceditoffboard/keb_vis_server/foxglove/generate_protos.shedithmi/widget/diagnose.cppedithmi/draw/draw_perception.cppeditoffboard/keb_vis_server/keb_vis_html_template.cceditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyoffboard/keb_path_opt_cli/local_regression/.gitignoreoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvac589114078e8b4a587a8c651575f6d4c15698d01788244621000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 KEB 本地自动回归集新增清单驱动的 KebScene 多帧回归入口，校验帧数、成功率、超时和耗时阈值，并支持标签筛选与结果留存。加入 CAR LaneFollow 和 TT PathOptimize 两条共享盘基础基线，回归时关闭 MCAP 转换。 2026-09-01 14:37:01 +0800ac589114078e8b4a587a8c651575f6d4c15698d0test: 增加 KEB 本地自动回归集addoffboard/keb_path_opt_cli/local_regression/run_keb_regression.pyaddoffboard/keb_path_opt_cli/local_regression/.gitignoreaddoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsveditoffboard/keb_path_opt_cli/keb_path_opt_cli.ccoffboard/keb_path_opt_cli/local_regression/README.mdoffboard/keb_vis_server/foxglove/README.mdoffboard/bag_to_keb_scene/README.mdoffboard/keb_path_opt_cli/README.mdb1a5d601247c5b4373964b25df574fc7f7977caf1788244650000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comdocs: 完善 KEB 工具与回归说明补充 KEB CLI 模式、roadside 字段语义、分类可视化、共享盘数据布局、回归准入规则和 bag 提取流程。 2026-09-01 14:37:30 +0800b1a5d601247c5b4373964b25df574fc7f7977cafdocs: 完善 KEB 工具与回归说明addoffboard/keb_path_opt_cli/README.mdaddoffboard/keb_path_opt_cli/local_regression/README.mdeditoffboard/keb_vis_server/foxglove/README.mdeditoffboard/bag_to_keb_scene/README.mddata/config/cfg_env_const.hppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppsource/ros_source_pnc_config.cpptasks/deciders/long_decider/constrain_decider.hppdata/vehicle/deviation_status.cppplan/prepare/prepare_objs.cppdata/vehicle/deviation_status.hppdata/config/cfg_env_const.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppfd54aef6acdae9d1a84ed9061356839eccb1aefe1788252359000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add neighboring trailer parking safety 2026-09-01 16:45:59 +0800fd54aef6acdae9d1a84ed9061356839eccb1aefefeat: add neighboring trailer parking safetyeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppedittasks/deciders/long_decider/constrain_decider.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_env_const.hppedittasks/deciders/long_decider/constrain_decider.cppeditdata/vehicle/deviation_status.cppeditdata/vehicle/deviation_status.hppeditsource/ros_source_pnc_config.cppedithmi/draw/draw_map.cppplan/prepare/prepare_objs.cppdata/config/cfg_env_const.cppdata/ssep/trailer_parking_safety.cppdata/ssep/trailer_parking_safety.hppdata/vehicle/deviation_status.cpp94ffbf00eb129024e61cd60d18f77fd5b17b2f2c1788254665000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: measure trailer clearance from tail edge 2026-09-01 17:24:25 +080094ffbf00eb129024e61cd60d18f77fd5b17b2f2cfix: measure trailer clearance from tail edgeeditdata/vehicle/deviation_status.cppeditdata/ssep/trailer_parking_safety.cppeditdata/config/cfg_env_const.cppeditdata/ssep/trailer_parking_safety.hppeditplan/prepare/prepare_objs.cppplan/prepare/prepare_objs.cpptasks/deciders/long_decider/constrain_decider.cpphmi/draw/draw_map.cppdata/ssep/trailer_parking_safety.cppsource/ros_source_pnc_config.cppdata/vehicle/deviation_status.cpp41ef3c8c74dec38773d0ca683693edb4d9f0cea31788255261000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autochore: remove trailer parking debug logs 2026-09-01 17:34:21 +080041ef3c8c74dec38773d0ca683693edb4d9f0cea3chore: remove trailer parking debug logsedittasks/deciders/long_decider/constrain_decider.cppedithmi/draw/draw_map.cppeditdata/vehicle/deviation_status.cppeditplan/prepare/prepare_objs.cppeditsource/ros_source_pnc_config.cppeditdata/ssep/trailer_parking_safety.cppssep/maps/ogm_builder.cc3a2d564af690d2f898a6834d2193f15ca4a181021788259895000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: clear real obstacles near SSEP endpoints 2026-09-01 18:51:35 +08003a2d564af690d2f898a6834d2193f15ca4a18102fix: clear real obstacles near SSEP endpointseditssep/maps/ogm_builder.cctasks/plan/path_optimization_task.cpp3ec3e37defd694dbe71ab28bd9e4eae06835410d1788267703000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: select guide_line pt as wbca smooth mode start_pt 2026-09-01 21:01:43 +08003ec3e37defd694dbe71ab28bd9e4eae06835410dfix: select guide_line pt as wbca smooth mode start_ptedittasks/plan/path_optimization_task.cppssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsvssep/test/ssep_planner_test.ccssep/common/utils/path_utils.hssep/test/local_regression/README.mdssep/keb_optimizer/tractor_trailer_keb_optimizer.ccssep/keb_optimizer/tractor_trailer_keb_optimizer.hssep/scenarios/tractor_trailer_enter_yard_planner.hssep/keb_optimizer/keb_problem.hssep/common/utils/path_utils.ccssep/keb_optimizer/keb_problem.cc1ce306593dd8a19b15f38021b55a4eb4e59da80c1788267937000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 提升拖挂车进场 KEB 路径质量增加粗搜索路径质量评估，限制普通进场优化抄近路、过度摆动和终点漂移。开放普通进场终端优化自由度，并在预热结果运动学不可行时追加固定权重收尾；补充碰撞诊断、单元测试和 8 个本地回归场景清单。 2026-09-01 21:05:37 +08001ce306593dd8a19b15f38021b55a4eb4e59da80cfix: 提升拖挂车进场 KEB 路径质量editssep/common/utils/path_utils.haddssep/test/local_regression/tractor_trailer_enter_yard_keb_manifest.tsveditssep/keb_optimizer/tractor_trailer_keb_optimizer.cceditssep/test/ssep_planner_test.cceditssep/keb_optimizer/keb_problem.cceditssep/keb_optimizer/tractor_trailer_keb_optimizer.heditssep/test/local_regression/README.mdeditssep/common/utils/path_utils.cceditssep/scenarios/tractor_trailer_enter_yard_planner.heditssep/keb_optimizer/keb_problem.hdata/plan/ssep_data.cppTesting/ssep_path_corridor_test.cpphmi/widget/diagnose.cpptasks/deciders/other_decider/replan_decider.cppdata/ssep/ssep_util.cppdata/ssep/ssep_ec.hppdata/decide/decide_reaction.hpptasks/deciders/long_decider/constrain_decider.cppdata/ssep/ssep_util.hpptasks/deciders/other_decider/replan_decider.hppdata/ssep/ssep_ec.cpp4667f15318956d9de05312b2fe5af4e27224c6ff1788267959000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 完善低贝位重搜触发与热启动策略允许普通入场弯道内首次检测低贝位后重搜，并按首次低贝位、约束变化、OGM 停止线和 SEARCH_UNUSE 分别选择完整搜索或历史路径热启动。车辆车头到达堆场口出口侧虚拟停止线后统一禁止新的低贝位搜索和等待停止线，保留检测状态与当前生效路径连续性；补充类型、位置门槛和弯内触发回归测试。 2026-09-01 21:05:59 +08004667f15318956d9de05312b2fe5af4e27224c6fffix: 完善低贝位重搜触发与热启动策略editdata/plan/ssep_data.cppeditdata/decide/decide_reaction.hppedittasks/deciders/other_decider/replan_decider.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/ssep_util.cppeditdata/ssep/ssep_ec.hppedithmi/widget/diagnose.cppedittasks/deciders/long_decider/constrain_decider.cppeditTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.hppeditdata/ssep/ssep_util.hppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/plan/ssep_data.cpphmi/widget/diagnose.cppdata/other/ssep_path_corridor.cppdata/other/ssep_path_corridor.hppdata/map/pnc_map/routing_extension/routing_data.hppdata/map/pnc_map/routing_extension/routing_data.cppab67f8452b132dfac57b2e995b19e3eddfc931f41788274065000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 保持开放空间 routing 判段连续将 OPENSPACE 搜索来源锁存到 SSEP 路径包络，避免 early prepare 阶段因当前 ssep_ec 尚未恢复而提前切换 routing。\n\n车辆越出静态途径点框后按当前 SSEP 分段保持 open-space routing；隔离其他搜索类型，并在重搜保持旧路径期间保留包络和分段索引。补充诊断日志及多段、跨帧、重搜生命周期回归测试。 2026-09-01 22:47:45 +0800ab67f8452b132dfac57b2e995b19e3eddfc931f4fix: 保持开放空间 routing 判段连续editTesting/ssep_path_corridor_test.cppeditdata/map/pnc_map/routing_extension/routing_data.hppeditTesting/routing_map_guard_test.cppeditdata/plan/ssep_data.cppedithmi/widget/diagnose.cppeditdata/other/ssep_path_corridor.cppeditdata/other/ssep_path_corridor.hppeditdata/map/pnc_map/routing_extension/routing_data.cppoffboard/keb_vis_server/foxglove/keb_to_mcap.py81a973531e23260ee2dbaa24b8e548c2f11cf2c91788274622000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 兼容新版 Python Protobuf 运行库在导入生成的 pb2 模块前启用 pure-Python protobuf 后端，兼容工程内旧版 protoc 生成代码。避免 protobuf 4.x 下转换 KebScene 时触发 Descriptors cannot be created directly。 2026-09-01 22:57:02 +080081a973531e23260ee2dbaa24b8e548c2f11cf2c9fix: 兼容新版 Python Protobuf 运行库editoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/keb_to_mcap.pyoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protooffboard/keb_vis_server/foxglove/README.md8020473bcb6c955c36b14d7e81b8d2faf59fd3ad1788274637000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 补全 Foxglove 可视化参考系新增标准 foxglove.FrameTransform schema，并在 MCAP 每帧写入 world 到 map 的单位变换。统一 SceneUpdate、TF 与 MCAP 日志时间戳，确保随机跳转和逐帧播放时均能解析参考系。 2026-09-01 22:57:17 +08008020473bcb6c955c36b14d7e81b8d2faf59fd3adfix: 补全 Foxglove 可视化参考系addoffboard/keb_vis_server/foxglove/foxglove_schemas/foxglove/FrameTransform.protoeditoffboard/keb_vis_server/foxglove/keb_to_mcap.pyeditoffboard/keb_vis_server/foxglove/README.mdTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cpp024a251b79b86bd236dd8a92bbeed161c50b0fc11788330712000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复换向重规划分段索引崩溃重搜保持路径包络期间校验当前分段索引，避免空分段结果进入方向读取并触发 FATAL。对异常索引增加限频诊断，并补充连续保持、新结果恢复及非法状态回归测试。 2026-09-02 14:31:52 +0800024a251b79b86bd236dd8a92bbeed161c50b0fc1fix: 修复换向重规划分段索引崩溃editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppsubmodule/ads_proto0b90ac6c4785e9ef8a52798d10250bfcb29b4cb01788331553000http://159.27.114.184:8080/jenkins/user/zhuxiaolongzhuxiaolongzhuxiaolong@senior.autofeat: 删除遗留的ads submodule 2026-09-02 14:45:53 +08000b90ac6c4785e9ef8a52798d10250bfcb29b4cb0feat: 删除遗留的ads submoduledeletesubmodule/ads_protodata/constrain/longitude_constrain.cpp7a2af46c413f2efcd3d1c7c4ef3395503baa4b481788347970000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 避免闸口短距被聚类障碍覆盖闸口控制区内跳过聚类碰撞触发的普通安全距离恢复，保留动态短跟车策略。控制区外继续沿用原有聚类障碍延长跟车距离逻辑。 2026-09-02 19:19:30 +08007a2af46c413f2efcd3d1c7c4ef3395503baa4b48fix: 避免闸口短距被聚类障碍覆盖editdata/constrain/longitude_constrain.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.cppCMakeLists.txtdata/map/reference/reference_segment.cpp4e7b81408898d6cc6db49aa507c81919b00f6b791788628802000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 防止重规划期间历史参考线逐帧缩短重搜索期间保持完整生效参考线，跳过上一路口备用路径的重复拼接，避免反复裁剪历史结果造成入堆场无剩余轨迹停车。提取参考线尾段时保留物理末点，维持内部区间原有的右开边界语义。新搜索结果从当前原始参考线重建备用段与目标段，失败时恢复历史线，候选参考线投影有效后才写回。新增独立的参考线保持与接替回归测试，覆盖末端反复提取、搜索等待和失败、替换失败回退、成功接替及正常恢复。验证：新增 5 项回归及已有 58 项相关测试通过；按工程统一入口构建 pnc_node、pnc_replayer 成功。 2026-09-06 01:20:02 +08004e7b81408898d6cc6db49aa507c81919b00f6b79fix: 防止重规划期间历史参考线逐帧缩短editCMakeLists.txtaddTesting/reference_line_replan_test.cppedittasks/other_tasks/stitch_path_to_reference_line.cppeditdata/map/reference/reference_segment.cppTesting/ssep_path_corridor_test.cppTesting/routing_map_guard_test.cppdata/map/pnc_map/routing_extension/routing_data.cppdata/vehicle/vehicle_destination.hppdata/vehicle/vehicle_destination.cpp5ad8be6101aa9aa0dfd8cf06be9c9a9b471bae291788632436000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修正开放空间终点距离与退出边界统一按当前车辆到 SSEP 真实末点的剩余长度与末点到 routing 终点的有符号距离计算终点距离，避免重叠段重复计算。仅在最终 SSEP 分段越过真实末点时退出开放空间，并校验负向连接、保持 OPEN_SPACE 末段停车语义，补充当前帧匹配及边界回归测试。 2026-09-06 02:20:36 +08005ad8be6101aa9aa0dfd8cf06be9c9a9b471bae29fix: 修正开放空间终点距离与退出边界editdata/map/pnc_map/routing_extension/routing_data.cppeditdata/vehicle/vehicle_destination.cppeditTesting/ssep_path_corridor_test.cppeditdata/vehicle/vehicle_destination.hppeditTesting/routing_map_guard_test.cppdata/ssep/into_yard_junction_ec.cpp7d70b0ed57de1965022136e4f586d15452b5f6291788632452000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 允许行驶中在弯道内触发入场搜索移除运动状态下对弯道内部非连续搜索的直接拒绝，使入场搜索继续使用参考线前向起点和既有路径连续性检查。 2026-09-06 02:20:52 +08007d70b0ed57de1965022136e4f586d15452b5f629fix: 允许行驶中在弯道内触发入场搜索editdata/ssep/into_yard_junction_ec.cppdata/other/flow_control.cppTesting/ssep_path_corridor_test.cppbe54d79c9ef1f67c7c511cd9e90d5a33879c7cbb1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 放宽 BulkOut 两点判定的横向容差将 BulkOut 正反向两点兜底容差设为 10 米，BulkIn 保持 5 米，避免首任务尚无搜索结果时横向调整导致漏判。保留纵向与航向约束，增加现场坐标、容差边界及反向判定回归。 2026-09-07 09:52:54 +0800be54d79c9ef1f67c7c511cd9e90d5a33879c7cbbfix: 放宽 BulkOut 两点判定的横向容差editdata/other/flow_control.cppeditTesting/ssep_path_corridor_test.cppTesting/ssep_path_corridor_test.cppdata/plan/ssep_data.cpp6c5f594b1934396700af1709d37d20caf34105c21788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一双向 IMV 搜索包络的换向航向补偿将搜索车头相对物理车头的翻转与 vehicle_state 的 reversing_mode 异或，覆盖搜索成功帧及多段换向前后的方向更新。包络匹配和换向点航向检查共用补偿逻辑，保留单向车型及终点退出约束。增加现场首点和连续两次换向回归。 2026-09-07 09:52:54 +08006c5f594b1934396700af1709d37d20caf34105c2fix: 统一双向 IMV 搜索包络的换向航向补偿editTesting/ssep_path_corridor_test.cppeditdata/plan/ssep_data.cppdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.hda90b573e4e558c81c5a13c6b0195951177c6b151788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 通过通用参数保持 BulkOut 搜索的车头身份新增 allow_start_heading_flip 参数，经 extra_params 和规划器工厂传递，默认保留旧行为并校验参数值。振石 BulkOut 调用端禁用起点航向翻转，同时保留途中双向搜索与末段前进约束。原始场景回放成功，生成前进、倒车、前进三段并通过碰撞检查。 2026-09-07 09:52:54 +0800da90b573e4e558c81c5a13c6b0195951177c6b15fix: 通过通用参数保持 BulkOut 搜索的车头身份editssep/scenarios/imv_general_planner.heditdata/ssep/forward_ec.cppeditssep/scenarios/scenario_planner_factory.hTesting/ssep_path_corridor_test.cpptasks/deciders/other_decider/replan_decider.cppcecc6d0adb8d208b89286441ffcd12d9dcb1cd3a1788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 清理无搜索阶段的错误重规划上下文依据当前阶段实际配置的 SSEP_TASK 判断搜索能力，避免普通路口沿线规划误报连续路口搜索重规划。无搜索阶段在冷却判断前清理重规划原因、搜索请求和历史路径保留状态，防止 routing 换向后复用旧参考线。增加有无搜索任务及冷却期残留回归，现场 snapshot 的 24 帧恢复引导线匹配。 2026-09-07 09:52:54 +0800cecc6d0adb8d208b89286441ffcd12d9dcb1cd3afix: 清理无搜索阶段的错误重规划上下文editTesting/ssep_path_corridor_test.cppedittasks/deciders/other_decider/replan_decider.cppssep/scenarios/scenario_planner_factory.hssep/scenarios/imv_general_planner.h3b9dbc984ae916bd8de434f3b4ab643a1cdb6b131788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 还原反向作业的 IMV 搜索物理车头朝向禁止起点航向翻转时，根据反向作业模式还原起点 heading 并转换方向，使末段前进约束对应物理车头。构建和执行搜索统一转换，两段组合搜索在途经点后不重复翻转。首任务与反向作业两例现场回放通过，保留途中倒车能力。 2026-09-07 09:52:54 +08003b9dbc984ae916bd8de434f3b4ab643a1cdb6b13fix: 还原反向作业的 IMV 搜索物理车头朝向editssep/scenarios/imv_general_planner.heditssep/scenarios/scenario_planner_factory.hssep/test/local_regression/path_quality.pyssep/test/local_regression/README.mdssep/test/local_regression/bulkout_reverse_quality.jsonssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_path_quality.pyssep/test/local_regression/imv_bulkout_manifest.tsvssep/test/local_regression/bulkout_initial_quality.json28c4ac7705b5dd72b98636297bc81649eaefb2921788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 增加 BulkOut 物理车头与路径质量回归收录首任务和反向作业重搜两例共享场景，独立验证物理起点航向、末段实际前进、终点误差、换向连续性、运动几何、长度和耗时，并要求最终碰撞检查证据。通过仓库 Proto 解析实际回放输出，保留输入副本、日志及质量报告。增加十一项验收器正反例与非法配置检查，逐例汇总异常；两例完整质量回归通过。 2026-09-07 09:52:54 +080028c4ac7705b5dd72b98636297bc81649eaefb292test: 增加 BulkOut 物理车头与路径质量回归addssep/test/local_regression/imv_bulkout_manifest.tsvaddssep/test/local_regression/test_path_quality.pyaddssep/test/local_regression/bulkout_reverse_quality.jsonaddssep/test/local_regression/bulkout_initial_quality.jsoneditssep/test/local_regression/README.mdaddssep/test/local_regression/path_quality.pyeditssep/test/local_regression/run_ssep_regression.pydata/ssep/forward_ec.cppplan/prepare/prepare_ogm.hppplan/prepare/prepare_ogm.cpp9b6d06c9c7f42df51766423d2131988dc67599a71788745974000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 为振石 BulkOut 搜索保留完整后方点云从当前帧原始 OGM 点单独重建搜索线障碍，避免执行阶段的后方忽略状态污染多向重搜输入。执行 OGM 与原始点云保持不变，原始点云无效时拒绝构造不完整搜索环境。 2026-09-07 09:52:54 +08009b6d06c9c7f42df51766423d2131988dc67599a7fix: 为振石 BulkOut 搜索保留完整后方点云editdata/ssep/forward_ec.cppeditplan/prepare/prepare_ogm.hppeditplan/prepare/prepare_ogm.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_search_extra_params.hdata/ssep/forward_ec.cppssep/scenarios/scenario_planner_factory.hCMakeLists.txtconfig/config_imv/ssep_port_scenarios_zhenshi.yamlssep/scenarios/imv_general_planner.hssep/scenarios/imv_extra_params_compat.hssep/scenarios/imv_enter_station_planner.hdata/ssep/ssep_ec.hppssep/scenarios/imv_multi_segment_parking_planner.hssep/ssep_planner.ccssep/coarse_search/searcher_builders/imv_general_searcher_builder.hdata/ssep/ssep_ec.cppa5753050594ac7416d5fab3df723aa1b4fd6f9d71788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 统一振石 IMV 场景的搜索参数配置复用现有场景 YAML 到 SsepInput.extra_params 链路，为 BulkOut、带途经点 BulkIn 和普通 BulkIn 提供场景级参数。IMVGeneral 通过通用方向、车头身份、碰撞裕量和方向代价参数构造搜索，不再使用振石专用构造开关；历史输入在规划入口转换为等价通用参数。显式参数会绕过不兼容的路径仓库与通用热启动，参数解析失败时明确返回错误。 2026-09-07 09:53:22 +0800a5753050594ac7416d5fab3df723aa1b4fd6f9d7feat: 统一振石 IMV 场景的搜索参数配置editTesting/ssep_path_corridor_test.cppeditdata/ssep/forward_ec.cppeditssep/ssep_planner.cceditssep/coarse_search/searcher_builders/imv_general_searcher_builder.heditssep/scenarios/scenario_planner_factory.heditssep/scenarios/imv_general_planner.heditCMakeLists.txtaddssep/scenarios/imv_search_extra_params.heditssep/scenarios/imv_multi_segment_parking_planner.haddssep/scenarios/imv_extra_params_compat.heditdata/ssep/ssep_ec.hppaddconfig/config_imv/ssep_port_scenarios_zhenshi.yamleditdata/ssep/ssep_ec.cppeditssep/scenarios/imv_enter_station_planner.hssep/offboard/ssep_input_provider.hssep/offboard/ssep_input_provider.ccssep/test/local_regression/test_replay_input.pyssep/offboard/scene_replay/replay_ssep_input_cli.ccssep/test/local_regression/README.mdssep/test/local_regression/run_ssep_regression.pyssep/test/local_regression/test_raw_replay_cli.py19fc888358f87917287ca2fa6eaabd21d5c943351788746002000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 严格区分 SSEP 原样回归与参数实验默认按录制输入中的 extra_params 回放，只有显式参数实验才应用质量配置覆盖，并在产物中记录模式和覆盖项。原始输入回放工具新增参数覆盖入口；解析失败、输入缺失、空目录和规划失败在严格模式下均返回非零。 2026-09-07 09:53:22 +080019fc888358f87917287ca2fa6eaabd21d5c94335test: 严格区分 SSEP 原样回归与参数实验editssep/offboard/scene_replay/replay_ssep_input_cli.cceditssep/test/local_regression/run_ssep_regression.pyaddssep/test/local_regression/test_replay_input.pyeditssep/offboard/ssep_input_provider.heditssep/test/local_regression/README.mdeditssep/offboard/ssep_input_provider.ccaddssep/test/local_regression/test_raw_replay_cli.pyalgorithm/wbca/wbca_manager.cppalgorithm/wbca/imv_wbca_manager.cppalgorithm/wbca/wbca_manager.hpptasks/plan/path_optimization_task.cppTesting/fixtures/wbca_smooth_20260907_1056.hppTesting/wbca_smooth_continuity_test.cppTesting/fixtures/wbca_smooth_20260907.hppalgorithm/wbca/imv_wbca_manager.hppalgorithm/wbca/path_optimization/path_optimization.cppCMakeLists.txttasks/plan/path_optimization_task.hppTesting/fixtures/wbca_smooth_20260907_1129.hpp6b8e9d0d21d8b1fcb8ef0e1893b9ee40adb132861788757159000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: preserve full WBCA history across planning modes Share full-history preservation between SMOOTH and NORMAL direct-MINCO routes, retain planning boundary derivatives, and stabilize no-shift mode selection within PathOptimizationTask. Add snapshot-derived continuity regressions and remove temporary diagnostics. 2026-09-07 12:59:19 +08006b8e9d0d21d8b1fcb8ef0e1893b9ee40adb13286fix: preserve full WBCA history across planning modeseditalgorithm/wbca/imv_wbca_manager.cppeditalgorithm/wbca/wbca_manager.hppeditCMakeLists.txtaddTesting/fixtures/wbca_smooth_20260907.hppeditalgorithm/wbca/imv_wbca_manager.hppedittasks/plan/path_optimization_task.hppeditalgorithm/wbca/path_optimization/path_optimization.cppedittasks/plan/path_optimization_task.cppaddTesting/fixtures/wbca_smooth_20260907_1056.hppaddTesting/wbca_smooth_continuity_test.cppeditalgorithm/wbca/wbca_manager.cppaddTesting/fixtures/wbca_smooth_20260907_1129.hpptasks/plan/smooth_task.cppdata/plan/ssep_data.cpptasks/deciders/other_decider/replan_decider.cpptasks/deciders/search_decider/normal_junction_search_decider.cpptasks/other_tasks/stitch_path_to_reference_line.cppdata/plan/ssep_data.hpptasks/plan/keb_path_optimize_task.cppTesting/reference_line_replan_test.cpptasks/other_tasks/stitch_path_to_reference_line.hpptasks/other_tasks/create_reference_line.cppef96197a59beacebe0f4a91adcdc2299a8ea6d501788774291000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 重搜期间复用成功路径并实时更新参考线锁存当前路口最后成功的 SSEP 路径，每帧从完整缓存拼接实时参考线，保留物理末点并处理滚动地图起点裁剪。普通路口构建失败时保留累计次数；重试耗尽后清理请求，有成功路径则继续拼接，无成功路径则恢复正常参考线更新。退出搜索时清理等待状态和旧包络，补齐缓存路径的快照坐标转换及投影重建。保持期间沿实时引导线进行局部规划，避免有限历史输出耗尽。验证：参考线与重规划状态回归，以及纵向停车和连续性回归。 2026-09-07 17:44:51 +0800ef96197a59beacebe0f4a91adcdc2299a8ea6d50fix: 重搜期间复用成功路径并实时更新参考线edittasks/deciders/search_decider/normal_junction_search_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.cppedittasks/plan/keb_path_optimize_task.cppedittasks/deciders/other_decider/replan_decider.cppedittasks/other_tasks/stitch_path_to_reference_line.hppedittasks/plan/smooth_task.cppeditdata/plan/ssep_data.hppedittasks/other_tasks/create_reference_line.cppeditTesting/reference_line_replan_test.cppeditdata/plan/ssep_data.cpptasks/plan/keb_lane_follow_path_task.cppproto/keb_scene.protooffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvoffboard/bag_to_keb_scene/bag_to_keb_scene.ccalgorithm/plan/keb_optimizer.hpptasks/plan/keb_utils_core.cppreplayer/replayer_data_process/replayer_data_extraction.cppCMakeLists.txttasks/plan/keb_utils.cpptasks/plan/keb_utils_core.hppoffboard/keb_path_opt_cli/README.mdoffboard/keb_path_opt_cli/local_regression/README.mdalgorithm/plan/keb_optimizer.cppTesting/keb_fixed_tail_test.cppoffboard/keb_path_opt_cli/keb_simulator.cc70784b598274cb5b48d54cde4ae986b21a0794ea1788774330000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 自适应调整 KEB 固定尾段优化范围预检 IMV LaneFollow 的固定尾段，必要时在当前段终点范围内有界前移滚动目标，最多检查四个候选且只求解一次。检查热启动固定尾段，边界不合法时回退冷启动；最终输出保留完整边界校验。按实车匹配点计算允许前移距离，同步在线、GUI/CLI 提取、离线回放及 HMI 实际目标；新 KebScene 显式保存前移上限，兼容旧数据。添加固定段与终点范围回归，并将出堆场 103 帧原始数据登记到共享回归清单。验证：固定尾段单元测试、完整 KEB 回归清单和 pnc_node 构建。 2026-09-07 17:45:30 +080070784b598274cb5b48d54cde4ae986b21a0794eafix: 自适应调整 KEB 固定尾段优化范围editoffboard/keb_path_opt_cli/local_regression/README.mdeditalgorithm/plan/keb_optimizer.cppeditoffboard/keb_path_opt_cli/local_regression/keb_regression_manifest.tsvaddTesting/keb_fixed_tail_test.cppeditoffboard/bag_to_keb_scene/bag_to_keb_scene.cceditCMakeLists.txtedittasks/plan/keb_utils_core.hppedittasks/plan/keb_utils_core.cppeditoffboard/keb_path_opt_cli/README.mdedittasks/plan/keb_lane_follow_path_task.cppeditalgorithm/plan/keb_optimizer.hppeditreplayer/replayer_data_process/replayer_data_extraction.cppeditproto/keb_scene.protoedittasks/plan/keb_utils.cppeditoffboard/keb_path_opt_cli/keb_simulator.ccssep/test/local_regression/README.mdssep/test/local_regression/imv_out_yard_pending_cases.jsonfae88de2856a95acf2e39668796bd56902ac66a41788774349000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comtest: 归档出堆场内圈出口碰撞待修复案例登记异常和正常对照场景及原始搜索输入，记录共享数据路径和 SHA-256。明确内圈允许通行，问题是出口处车身碰撞；不得以必须走大圈或路径长度作为验收标准。记录添加超视距障碍物的规避方案，将算法问题保留为 deferred，不纳入仅校验搜索成功的必过清单。验证：四个原始文件校验一致，两份场景均可解析。 2026-09-07 17:45:49 +0800fae88de2856a95acf2e39668796bd56902ac66a4test: 归档出堆场内圈出口碰撞待修复案例editssep/test/local_regression/README.mdaddssep/test/local_regression/imv_out_yard_pending_cases.jsondata/map/pnc_map/routing_extension/routing_data.cppdata/config/cfg_static.hppTesting/routing_transition_test.cppCMakeLists.txtdata/map/pnc_map/routing_extension/routing_transition.hppdata/map/pnc_map/routing_extension/routing_data.hpp06f22cb96e630a15ea10919166754fc049aa79031788832537000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一分段路径衔接判定并修复双向 IMV 漏换向将方向计算和 openspace 入口统一为同向接续、直接换向与搜索衔接三类。双向 IMV 在纵向间隙不超过 1 米、横向偏差不超过 0.1 米、反向角偏差不超过 5 度时直接换向，修复 T304 因端点相距约 0.914 米而漏换向的问题。补齐缺失的 openspace 连接点并优先保留已有途经点，增加独立回归目标，覆盖方向初始化、段末停车、阈值边界和任务生命周期。为显式 10/11 掉头途经点与几何换向的优先级添加 TODO，当前保持原行为。 2026-09-08 09:55:37 +080006f22cb96e630a15ea10919166754fc049aa7903fix: 统一分段路径衔接判定并修复双向 IMV 漏换向editdata/map/pnc_map/routing_extension/routing_data.hppeditdata/map/pnc_map/routing_extension/routing_data.cppeditCMakeLists.txtaddTesting/routing_transition_test.cppeditdata/config/cfg_static.hppadddata/map/pnc_map/routing_extension/routing_transition.hppTesting/routing_transition_test.cppdata/map/pnc_map/routing_extension/routing_data.cpp7087555b29af0107f6256b7f266e17f05fe742841788832554000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 修复重合端点的 openspace 建区退化端点重合时使用车道法向确定平行搜索框朝向，避免搜索范围错误依赖全局坐标轴。上下引桥连接线为零长度时，按车道航向直接构造扩展走廊，避免无效子多边形在合并时被丢弃。新增普通车型重合端点及上下引桥旋转回归。最终 12 项衔接回归与 14 项地图保护回归通过，pnc_node 集群构建成功。 2026-09-08 09:55:54 +08007087555b29af0107f6256b7f266e17f05fe74284fix: 修复重合端点的 openspace 建区退化editdata/map/pnc_map/routing_extension/routing_data.cppeditTesting/routing_transition_test.cppdata/config/cfg_region.hppdata/config/cfg_region.cppdata/ssep/ssep_ec.cppdata/ssep/forward_ec.cpp894b6ed6a27b45f3857ca3a7d22f86f0e76c6f731788836917000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增津西区域识别并接入搜索配置依据津西 map_jx_20260903_v1.1.1 地图包围盒确定区域中心，沿用 WHBULK 的 3000 米识别半径，并在枚举末尾新增 JIN_XI。将津西接入 WHBULK 同类前进通道、参考线、途经点采样及终点通道兜底分支，并支持 TT/CAR 的通用搜索器回退选择。验证：地图全部 4633 个坐标点被覆盖，与现有 32 个区域不重叠； git diff --check 及工程 task 的 pnc_node 编译通过。 2026-09-08 11:08:37 +0800894b6ed6a27b45f3857ca3a7d22f86f0e76c6f73feat: 新增津西区域识别并接入搜索配置editdata/ssep/forward_ec.cppeditdata/config/cfg_region.hppeditdata/ssep/ssep_ec.cppeditdata/config/cfg_region.cppTesting/ssep_path_corridor_test.cppssep/scenarios/imv_extra_params_compat.hssep/ssep_planner.ccssep/test/local_regression/README.mddata/ssep/forward_ec.cpp856a59b68229c3791c2ed2f23b449f8fba2e9fcf1788845864000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 移除振石出场硬编码参数及旧开关兼容删除 enable_zhenshi_bulkout_mode 的兼容转换及前进搜索中振石 BulkOut 的参数补充，搜索参数直接由 YAML 显式配置。缺项采用 planner 通用默认值，历史输入也不再自动展开旧开关。同步删除旧开关测试并更新参数配置说明，保留通用参数校验。 2026-09-08 13:37:44 +0800856a59b68229c3791c2ed2f23b449f8fba2e9fcfrefactor: 移除振石出场硬编码参数及旧开关兼容editssep/test/local_regression/README.mdeditdata/ssep/forward_ec.cppdeletessep/scenarios/imv_extra_params_compat.heditTesting/ssep_path_corridor_test.cppeditssep/ssep_planner.ccdata/plan/ssep_data.hppdata/ssep/forward_ec.cppCMakeLists.txtdocs/ssep_scenario_config_lifecycle.mddata/ssep/into_yard_junction_ec.hppdata/ssep/open_space_ec.cppdata/config/cfg_static.hppdata/ssep/open_space_ec.hppdata/ssep/into_yard_junction_ec.cppdata/ssep/ssep_ec.hppdata/ssep/forward_ec.hppdata/ssep/ssep_ec.cppTesting/ssep_scenario_config_lifecycle_test.cpp5363de0da861e2496b85339ca2ec110a7dc11a081788845874000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 统一搜索场景参数生命周期并保护配置优先级在公共场景匹配入口和 Reset 中清理旧 planner 与参数，避免未匹配、空配置和重复请求携带上次动态拉直参数。以匹配标记保护 YAML 选择，场地及车型默认仅用于未匹配回退；保留 CAR 换向、低贝位和远程引导等运行时切换。输出参数整组替换并清理旧远程引导线，投影失败时保留 YAML 且停止无效拉直计算。快照版本升级并兼容旧版读取。新增覆盖九类搜索的 47 项回归和逐场景检查文档。验证：47 项测试、pnc_node 编译及 git diff --check 通过。 2026-09-08 13:37:54 +08005363de0da861e2496b85339ca2ec110a7dc11a08fix: 统一搜索场景参数生命周期并保护配置优先级editdata/plan/ssep_data.hppeditCMakeLists.txteditdata/ssep/into_yard_junction_ec.cppeditdata/ssep/ssep_ec.cppeditdata/ssep/forward_ec.hppeditdata/config/cfg_static.hppeditdata/ssep/ssep_ec.hppeditdata/ssep/into_yard_junction_ec.hppaddTesting/ssep_scenario_config_lifecycle_test.cppeditdata/ssep/open_space_ec.hppadddocs/ssep_scenario_config_lifecycle.mdeditdata/ssep/open_space_ec.cppeditdata/ssep/forward_ec.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_path_optimize_task.cpp0942ec2b21bc9056d0fc2a74d0640ffed7b3c8281788876462000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor: 统一 KEB 路径优化的请求与结果处理将同步和异步优化收敛到共享的请求快照、求解和结果写回流程，后台线程不持有 Task 或 PlanFrame。拆分 SSEP 前置处理、重搜保持与 PJPO 兜底，保留 generation 失效保护和完整输出历史。检查路径投影写回结果，删除未使用成员、失效注释和无效的局部路径匹配。 2026-09-08 22:07:42 +08000942ec2b21bc9056d0fc2a74d0640ffed7b3c828refactor: 统一 KEB 路径优化的请求与结果处理edittasks/plan/keb_path_optimize_task.hppedittasks/plan/keb_path_optimize_task.cppTesting/ssep_path_corridor_test.cpptasks/plan/keb_utils.cpptasks/plan/keb_path_optimize_task.hpptasks/plan/keb_utils.hppscenarios/task_condition_evaluator.cpptasks/plan/keb_path_optimize_task.cppabaf5d01dcb656c9138007e91f34fede7bca4eef1788876560000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 支持直行堆场路口 KEB 并保持切换路径连续 NORMAL_FOLLOW 使用 guide line 路口终点构建无 SSEP 的 KEB 输入，延伸距离保留为 0 米。首次异步等待时放行有效历史路径拼接；末端在区域切换前复用原路口输出，避免无轨迹停车。远处后续路口不抢占末端复用目标，进入下一路口后正常更新目标；失效输入和真实求解失败仍保留错误处理。补充选择器、终点、方向、异步等待、末端复用及 Reset 生命周期回归，兼容无 SSEP 的回放可视化输入。验证：pnc_node 和相关测试目标构建通过，74 项规划回归通过，回放基础测试通过 202/203 项。已知未解决项：既有 EncodingBenchmarkTest.ReportsSameGroupBoostAndCompactAblations 字节数重复性测试仍失败。 2026-09-08 22:09:20 +0800abaf5d01dcb656c9138007e91f34fede7bca4eeffeat: 支持直行堆场路口 KEB 并保持切换路径连续edittasks/plan/keb_path_optimize_task.cppedittasks/plan/keb_utils.cppedittasks/plan/keb_utils.hppedittasks/plan/keb_path_optimize_task.hppeditTesting/ssep_path_corridor_test.cppeditscenarios/task_condition_evaluator.cppgitdata/config/cfg_static.hppdata/config/cfg_static.cppREADME.mdsink/ros_sink_trailer_posture.cpp8182b6262c9ba15d0577b73b4c99b6bcf8b7bdea1787817180000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: add trailer bias simulator. 2026-08-27 15:53:00 +08008182b6262c9ba15d0577b73b4c99b6bcf8b7bdeafeat: add trailer bias simulator.editdata/config/cfg_static.cppeditdata/config/cfg_static.hppeditREADME.mdeditsink/ros_sink_trailer_posture.cppgitalgorithm/ctrl/lon_controller/longitude_controller.cpp62c5cfb45716daf5fc8ec1e63d1ca513d4183f9e1750415840000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:emergency stop的时候，控制切换到 N档 2025-06-20 18:37:20 +080062c5cfb45716daf5fc8ec1e63d1ca513d4183f9erefactor:emergency stop的时候，控制切换到 N档editalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_state.cpp956f8a3473828368cc66a5e83051add64f16fdf71751007424000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: disable trailer_state when disable reversing truck controller. 2025-06-27 14:57:04 +0800956f8a3473828368cc66a5e83051add64f16fdf7fix: disable trailer_state when disable reversing truck controller.editnode/process/prepare/prepare_state.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/parallel_controller/acc_augment_mpc.cpp27f18e13ab6249a0bf51a4cf1bb2d421979f864b1751616352000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:平行驾驶的起始点的速度从历史轨迹上获取 2025-07-04 16:05:52 +080027f18e13ab6249a0bf51a4cf1bb2d421979f864bfeat:平行驾驶的起始点的速度从历史轨迹上获取editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/parallel_controller/acc_augment_mpc.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/ctrl_frame.hpp7acfceefa6df603996a6fa5093d2e097fbfb54f21751894674000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:调整期望速度的滤波 2025-07-07 21:24:34 +08007acfceefa6df603996a6fa5093d2e097fbfb54f2fix:调整期望速度的滤波editdata/ctrl_frame.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppae3a02987edd7aea21bce5557ce4f7e43b0cdcfa1752137695000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comrefactor:平行驾驶的时候使用大的油门刹车表 2025-07-10 16:54:55 +0800ae3a02987edd7aea21bce5557ce4f7e43b0cdcfarefactor:平行驾驶的时候使用大的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/vehicle/vehicle_chassis.cpp1487a6739f9bfca101f3c2d889985aab07e8639a1753328797000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: chassis.steering_angle. 2025-07-24 11:46:37 +08001487a6739f9bfca101f3c2d889985aab07e8639afix: chassis.steering_angle.editdata/vehicle/vehicle_chassis.cppalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.cppf8862ad62e59762a23929c143f7f4c27b4e9db041753328817000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering stationary. 2025-07-24 11:46:57 +0800f8862ad62e59762a23929c143f7f4c27b4e9db04fix: steering stationary.editalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppnode/sink/ros_sink_command.cppd7f59e16e1b15079456007dc145752d99a486ade1753410977000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steering_mode = auto for move_prepare. 2025-07-25 10:36:17 +0800d7f59e16e1b15079456007dc145752d99a486adefix: steering_mode = auto for move_prepare.editnode/sink/ros_sink_command.cppalgorithm/ctrl/lat_controller/augment_mpc.cpp3fae030da0e243933726301b4131ee6a7051d2261753688931000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: steer_speed = 1.0 for stationary. 2025-07-28 15:48:51 +08003fae030da0e243933726301b4131ee6a7051d226fix: steer_speed = 1.0 for stationary.editalgorithm/ctrl/lat_controller/augment_mpc.cppnode/source/ros_source_parallel_cmd.cppf8ea2c9c7f4c269d1f7becac0d78c10a729e7c8e1754633847000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:打开爬坡标志位 2025-08-08 14:17:27 +0800f8ea2c9c7f4c269d1f7becac0d78c10a729e7c8efeat:打开爬坡标志位editnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp350fd16a4e3aa149d53c8620a4a19338ca6761841754633868000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整远程步进最小规划速度 2025-08-08 14:17:48 +0800350fd16a4e3aa149d53c8620a4a19338ca676184feat:调整远程步进最小规划速度editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppc21e5539ea3d02ffb5fcc4edd67dfac57c07744f1754791109000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: del acc_mpc_.reset 2025-08-10 09:58:29 +0800c21e5539ea3d02ffb5fcc4edd67dfac57c07744ffix: del acc_mpc_.reseteditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cpp8e505c5c05c35fa3591005bcf67d074bbb93ecac1755139796000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的油门刹车表 2025-08-14 10:49:56 +08008e505c5c05c35fa3591005bcf67d074bbb93ecacfeat:调整倒车的油门刹车表editalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.cppdata/config/cfg_parallel.hppfb1ccc005c3ee46fe267bfc3fe48cb2680db88831755151178000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整倒车的前馈补偿。 2025-08-14 13:59:38 +0800fb1ccc005c3ee46fe267bfc3fe48cb2680db8883feat:调整倒车的前馈补偿。editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_parallel.hppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppdata/plan/plan_data.cpp30e4489b2b6065fa68a3933f0980b753b3b5e8711755659616000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整安全模块的接口，需和安全模块一块更新 2025-08-20 11:13:36 +080030e4489b2b6065fa68a3933f0980b753b3b5e871feat:调整安全模块的接口，需和安全模块一块更新editnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppeditdata/plan/plan_data.cppnode/sink/ros_sink_command.cppdata/plan/plan_data.hppd60b3ccfe7297adc7411bf5e08901cedc463fa3c1755681638000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix:编译的buy 2025-08-20 17:20:38 +0800d60b3ccfe7297adc7411bf5e08901cedc463fa3cfix:编译的buyeditnode/sink/ros_sink_command.cppeditdata/plan/plan_data.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cpp68142a159c826f1d73d252d37154be809fad66e41756869651000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: mpc status bug. 2025-09-03 11:20:51 +080068142a159c826f1d73d252d37154be809fad66e4fix: mpc status bug.editalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppd663245c3ba11577d64c5dae9abb973d165fa9521758430138000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:对准时，刹车的问题 2025-09-21 12:48:58 +0800d663245c3ba11577d64c5dae9abb973d165fa952feat:对准时，刹车的问题editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7cdf9036dc4b885aa0c3bac3af3c02916f7ec8311758545708000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:使用阈值门限 2025-09-22 20:55:08 +08007cdf9036dc4b885aa0c3bac3af3c02916f7ec831feat:使用阈值门限editalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cpp7d2eeb7ec642aa164f6e9162ae27aa4378dede2f1758601170000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:调整对准阈值的处理 2025-09-23 12:19:30 +08007d2eeb7ec642aa164f6e9162ae27aa4378dede2ffeat:调整对准阈值的处理editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/plan/plan_data.hppdata/plan/plan_data.cppalgorithm/ctrl/lat_controller/augment_mpc.cppbee5190cbc27da2d79fc347af8955b16ece0a9cc1758767501000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: using plan_data to activate stationary steering. 2025-09-25 10:31:41 +0800bee5190cbc27da2d79fc347af8955b16ece0a9ccfix: using plan_data to activate stationary steering.editdata/plan/plan_data.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditdata/plan/plan_data.hppnode/sink/ros_sink_command.cpp3f5e4f1f4cd63acd48c0685f6687bc064e568c141758785223000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: stationary steering bug. 2025-09-25 15:27:03 +08003f5e4f1f4cd63acd48c0685f6687bc064e568c14fix: stationary steering bug.editnode/sink/ros_sink_command.cppnode/sink/ros_sink_ctrl_debug.cppnode/CMakeLists.txtdata/ctrl/lateral_cmd.cppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppCMakeLists.txtdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppconfig/config_car/ctrl.yamlpackage.xmldata/config/cfg_steering_offset_observer.cppnode/logic.cppnode/sink/ros_sink_command.cppnode/logic.hppdata/ctrl_frame.hppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamldata/ctrl/observer_debug_data.hppb6b84cf70ee229d6840e76c971b729abf1eac9581760096754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat:新增零偏角度辨识及补偿功能 2025-10-10 19:45:54 +0800b6b84cf70ee229d6840e76c971b729abf1eac958feat:新增零偏角度辨识及补偿功能addalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/ctrl/lateral_cmd.hppadddata/ctrl/observer_debug_data.cppeditpackage.xmleditnode/logic.cppeditnode/logic.hppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.hppeditnode/process/proc/proc_lateral_controller.cppadddata/config/cfg_steering_offset_observer.cppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditnode/sink/ros_sink_command.cppeditCMakeLists.txtaddalgorithm/ctrl/observer/steering_offset_observer.hppadddata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_ctrl_debug.cppeditconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamladddata/config/cfg_steering_offset_observer.hppeditnode/CMakeLists.txtdata/config/cfg_steering_offset_observer.cppdata/config/cfg_steering_offset_observer.hppnode/logic.cpp34f11cdc5f8d92a2a0124516a42b89bc2fa496041760151883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:更改零偏角度yaml文件的读取方式 2025-10-11 11:04:43 +080034f11cdc5f8d92a2a0124516a42b89bc2fa49604fix:更改零偏角度yaml文件的读取方式editdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/logic.cppdata/plan/plan_data.cppc2ca63b1f39faa468c1c38dc814fe2d40602445d1760160965000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:36:05 +0800c2ca63b1f39faa468c1c38dc814fe2d40602445dfix: crash issueeditdata/plan/plan_data.cppdata/plan/plan_data.cpp1e015cff9dddc734826837e074c145638e0077841760161343000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: crash issue 2025-10-11 13:42:23 +08001e015cff9dddc734826837e074c145638e007784fix: crash issueeditdata/plan/plan_data.cppnode/process/proc/proc_lateral_controller.cpp19a8f0893012851595f722b221118a4eda904c8f1760440730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 屏蔽变道时的零偏补偿 2025-10-14 19:18:50 +080019a8f0893012851595f722b221118a4eda904c8ffix: 屏蔽变道时的零偏补偿editnode/process/proc/proc_lateral_controller.cppdata/ctrl/vehicle_attr.cppdata/plan/plan_enum_definition.hppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppnode/sink/ros_sink_command.cppbca99ca66e6ea06c8e9c210f911950ee9a40567c1761205312000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat:适配多次步进 2025-10-23 15:41:52 +0800bca99ca66e6ea06c8e9c210f911950ee9a40567cfeat:适配多次步进editdata/ctrl/vehicle_attr.cppeditnode/sink/ros_sink_command.cppeditdata/plan/plan_enum_definition.hppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/vehicle_attr.cppdata/ctrl/longctrl_data.hppe3627ed0b0b7af9792d537f39ed05e50bbdabf3f1761550110000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:参考速度为0时质量估计失败的问题 2025-10-27 15:28:30 +0800e3627ed0b0b7af9792d537f39ed05e50bbdabf3ffix:参考速度为0时质量估计失败的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/vehicle_attr.cppeditdata/ctrl/longctrl_data.hppdata/plan/plan_data.cppda8eac4b8b7f77062435e87d267222132d9674be1761552137000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:ResetHFSMState()中不将task_id_置为0 2025-10-27 16:02:17 +0800da8eac4b8b7f77062435e87d267222132d9674befix:ResetHFSMState()中不将task_id_置为0editdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/longitude_ctrl_debug_data.cppdata/ctrl/longctrl_data.hpp03d1a9949aa987e93fd7bf6cd582ce0587ebd19e1762835890000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:刹车和起步问题修复 2025-11-11 12:38:10 +080003d1a9949aa987e93fd7bf6cd582ce0587ebd19efix:刹车和起步问题修复editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/longitude_ctrl_debug_data.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl/longctrl_data.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc741ab97e651163a949200862f63fc21d032afd11763089069000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:最小刹车问题修复 2025-11-14 10:57:49 +0800c741ab97e651163a949200862f63fc21d032afd1fix:最小刹车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppCMakeLists.txtnode/sink/ros_sink_command.cppa1d15c814347f023e2ec82f593d4f3a53b12eb281763517920000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: clamp steering angle. 2025-11-19 10:05:20 +0800a1d15c814347f023e2ec82f593d4f3a53b12eb28fix: clamp steering angle.editCMakeLists.txteditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc0021668b12823b0e104d189d2ccb9541e54f81f1764218219000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:取消任务时切到N档 2025-11-27 12:36:59 +0800c0021668b12823b0e104d189d2ccb9541e54f81ffix:取消任务时切到N档editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp469f07d20c84a2ea7e65c7e9f0fe21ceb58069c11764931767000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix:对准停不住车问题修复 2025-12-05 18:49:27 +0800469f07d20c84a2ea7e65c7e9f0fe21ceb58069c1fix:对准停不住车问题修复editalgorithm/ctrl/lon_controller/truck_lon_controller.cppnode/process/prepare/prepare_creep.cpp4d2049600e29c93ba14b177a4d81e9b7f0ca5dcf1766027337000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: imv车型也控制进入creep的距离 2025-12-18 11:08:57 +08004d2049600e29c93ba14b177a4d81e9b7f0ca5dcffix: imv车型也控制进入creep的距离editnode/process/prepare/prepare_creep.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppmath/identification/parking_distance_estimator.hppmath/identification/vehicle_mass_estimator.cppdata/ctrl_frame.hppmath/util/algebra.cppdata/config/cfg_static.cppmath/filter/lowpass_filter.hppdata/ctrl/vehicle_attr.cppdata/ctrl/vehicle_attr.hppdata/vehicle/vehicle_state.cppmath/filter/lowpass_filter.cppdata/config/cfg_mass_estimation.cppnode/process/prepare/prepare_traj.cppdata/config/cfg_mass_estimation.hppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_parking_distance.cppalgorithm/ctrl/lon_controller/longitude_controller.hppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppa923869ff2b65ba1d498bbcf665233ce775f4e181766733310000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofeat: 新质量估计仅观测 && 停车距离预估用于刹车 2025-12-26 15:15:10 +0800a923869ff2b65ba1d498bbcf665233ce775f4e18feat: 新质量估计仅观测 && 停车距离预估用于刹车adddata/config/cfg_lon_dynamic_mpc.cppaddmath/identification/parking_distance_estimator.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_state.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/vehicle_attr.hppaddmath/filter/lowpass_filter.hppaddmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppadddata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_traj.cppeditdata/vehicle/vehicle_state.cppaddmath/identification/vehicle_mass_estimator.cppeditdata/ctrl/observer_debug_data.cppaddmath/filter/lowpass_filter.cppeditmath/util/algebra.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.hppadddata/config/cfg_parking_distance.cppeditnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppadddata/config/cfg_parking_distance.hppeditdata/ctrl/vehicle_attr.cppeditdata/config/cfg_static.cppaddmath/identification/vehicle_mass_estimator.hppnode/source/module.cppdata/config/cfg_topic.hppdata/config/cfg_static.hppdata/config/cfg_topic.cppnode/source/ros_source_pnc_status.hppnode/source/ros_source_pnc_status.cppdata/config/cfg_static.cpp11abef0f6f252b25d1c9bcaafc2e14720fc7ef941767526570000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: update cfg_static from pnc_status. 2026-01-04 19:36:10 +080011abef0f6f252b25d1c9bcaafc2e14720fc7ef94feat: update cfg_static from pnc_status.editnode/source/module.cppeditdata/config/cfg_topic.cppeditdata/config/cfg_topic.hppeditdata/config/cfg_static.cppaddnode/source/ros_source_pnc_status.cppaddnode/source/ros_source_pnc_status.hppeditdata/config/cfg_static.hppdata/ctrl/observer_debug_data.cppmath/identification/parking_distance_estimator.hppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppnode/logic.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp7dda8c34a63e4d30cf3dcf9780f3aa263b8394841767534200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估功能优化 2026-01-04 21:43:20 +08007dda8c34a63e4d30cf3dcf9780f3aa263b839484fix: 停车距离预估功能优化editnode/process/prepare/prepare_attr.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/logic.cppmath/identification/vehicle_mass_estimator.hppdata/config/cfg_static.hppnode/logic.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppmath/identification/vehicle_mass_estimator.cppdata/config/cfg_static.cpp2799ce7485702c9d7189502f490de21a8aa15fa01767592495000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：质量估计优化 2026-01-05 13:54:55 +08002799ce7485702c9d7189502f490de21a8aa15fa0fix：质量估计优化editnode/logic.cppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditdata/config/cfg_static.hppeditmath/identification/vehicle_mass_estimator.cppeditdata/config/cfg_static.cppeditmath/identification/vehicle_mass_estimator.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_parking_distance.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_proc_longctrl.cpp4f01eede08a21e7f5b7bcf889161d952c84f998e1767598267000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:平行驾驶优化 2026-01-05 15:31:07 +08004f01eede08a21e7f5b7bcf889161d952c84f998efix:平行驾驶优化editnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppdata/config/cfg_parking_distance.cppdata/config/cfg_steering_offset_observer.cpp90f98d70883afe14d1fb6d43076799142013caf51767750736000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: the creep brake consider weight 2026-01-07 09:52:16 +080090f98d70883afe14d1fb6d43076799142013caf5feat: the creep brake consider weighteditdata/config/cfg_parking_distance.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/config/cfg_creep.hppeditconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp8466365acd87ff59ad79555ffa2b88589270c6121767872387000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 对准优化 2026-01-08 19:39:47 +08008466365acd87ff59ad79555ffa2b88589270c612fix: 对准优化editdata/config/cfg_parking_distance.cppeditdata/ctrl/observer_debug_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditmath/identification/parking_distance_estimator.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppce524138624fd65d93879bf9aaec24d18f0eb8241767941855000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuo@senior.autofix: 停车预估配置参数bug 2026-01-09 14:57:35 +0800ce524138624fd65d93879bf9aaec24d18f0eb824fix: 停车预估配置参数bugeditdata/ctrl_frame.cppdata/config/cfg_parking_distance.hppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cpp715acf05d21b6221e37f946500215ce57e1a0fb11768213456000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: parking distance estimator add first stage gain 2026-01-12 18:24:16 +0800715acf05d21b6221e37f946500215ce57e1a0fb1feat: parking distance estimator add first stage gaineditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_parking_distance.hppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdd7bdbfa7e4a6fbd98a506fcbb6f91548f98348a1769053193000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: truck creep 中积分项修复 2026-01-22 11:39:53 +0800dd7bdbfa7e4a6fbd98a506fcbb6f91548f98348afix: truck creep 中积分项修复editalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_mass_estimation.cpp3789b319f892ee4d2d001a7eed76c49e3d33dfd61769054398000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认关闭新功能 2026-01-22 11:59:58 +08003789b319f892ee4d2d001a7eed76c49e3d33dfd6fix: 默认关闭新功能editdata/config/cfg_parking_distance.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_mass_estimation.cpp.gitignoredata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp15ddb883751c5e495ab1bc53780ce75c4cb9c8281769427745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep增加动力学前馈但默认关闭 && creep日志记录优化 2026-01-26 19:42:25 +080015ddb883751c5e495ab1bc53780ce75c4cb9c828feat: creep增加动力学前馈但默认关闭 && creep日志记录优化editalgorithm/ctrl/lon_controller/longitude_controller.cppedit.gitignoreeditdata/config/cfg_creep.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hpp9e3d2535ae2b3f4b1ec84118c55fc1d377e930bc1769482888000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: creep中的position模式变更策略 2026-01-27 11:01:28 +08009e3d2535ae2b3f4b1ec84118c55fc1d377e930bcfeat: creep中的position模式变更策略editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.hpp07d9a9a7bf6e2e03e27c50b94c7d6d86c4e660361769499140000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准末端速度参数化 2026-01-27 15:32:20 +080007d9a9a7bf6e2e03e27c50b94c7d6d86c4e66036feat: 对准末端速度参数化editdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/vehicle/vehicle_state.cppe5748087e51b8fb72bc49d5bf1d9de4ad7e584c41769743730000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 使用底盘速度的消息源更改 2026-01-30 11:28:50 +0800e5748087e51b8fb72bc49d5bf1d9de4ad7e584c4fix: 使用底盘速度的消息源更改editdata/vehicle/vehicle_state.cppCMakeLists.txtcommon/log/log_config.cppf7d781d64edec62cc423975239d6b9784f6e7c051770192314000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: cmake using clang. 2026-02-04 16:05:14 +0800f7d781d64edec62cc423975239d6b9784f6e7c05fix: cmake using clang.editCMakeLists.txteditcommon/log/log_config.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/ctrl/observer_debug_data.hppdata/config/cfg_proc_longctrl.cpp7ab75f2e7389e06a4e5b061be3120e07497a0a361771161403000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加TCS功能 2026-02-15 21:16:43 +08007ab75f2e7389e06a4e5b061be3120e07497a0a36feat: 增加TCS功能editdata/config/cfg_proc_longctrl.cppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppbe6f849a5145cede55d1b392e3a71223ce2b0e971772080648000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：高精轮速对准和大转向时跟踪优化 2026-02-26 12:37:28 +0800be6f849a5145cede55d1b392e3a71223ce2b0e97feat：高精轮速对准和大转向时跟踪优化editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cpp0c12f43c28613db29ecd5782d5278922c7229bc21772190408000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 解决低速跟踪差的问题 2026-02-27 19:06:48 +08000c12f43c28613db29ecd5782d5278922c7229bc2feat: 解决低速跟踪差的问题editalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppAGENTS.mddocs/task_plan.mddata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdocs/progress.mdalgorithm/ctrl/lon_controller/longitude_controller.cppdocs/findings.mddata/ctrl/observer_debug_data.hpp51a0c112176584bbb075a10bd56d78c1240cd8e71772508222000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuooptimize PID integral and TCS 2026-03-03 11:23:42 +080051a0c112176584bbb075a10bd56d78c1240cd8e7optimize PID integral and TCSadddocs/task_plan.mdeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/ctrl/observer_debug_data.hppaddAGENTS.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddocs/progress.mdeditdata/ctrl/longctrl_data.cppadddocs/findings.mdalgorithm/ctrl/lon_controller/longitude_controller.cpp35e8faa7c435af6edb0ad51c3b614fd7e11fa6e41772526196000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志存储位置更改 2026-03-03 16:23:16 +080035e8faa7c435af6edb0ad51c3b614fd7e11fa6e4feat: 对准日志存储位置更改editalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppconfig/config_truck/ctrl.yamldata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppadd59702865f016f9a043b9c06316c99528c539f1772607560000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃 2026-03-04 14:59:20 +0800add59702865f016f9a043b9c06316c99528c539ffeat: 对准时刹车值调整 && 对准距离使用卡尔曼滤波补偿阶跃editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.cppeditdata/ctrl/creep_data.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppb450e3744d3a5853fa3337157d2657203597fed91772610210000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志记录 2026-03-04 15:43:30 +0800b450e3744d3a5853fa3337157d2657203597fed9feat: 更改日志记录editalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppnode/logic.cppAGENTS.mddocs/task_plan.mddocs/progress.mddata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.hppdocs/findings.mddf8de0e679dab840f39bcf76b4418fe23662b2201772617941000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加全流程的纵向动力学log记录 2026-03-04 17:52:21 +0800df8de0e679dab840f39bcf76b4418fe23662b220feat: 增加全流程的纵向动力学log记录editdocs/progress.mdeditnode/logic.cppeditAGENTS.mdeditdata/ctrl_frame.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl_frame.cppeditdocs/findings.mdeditdocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppc3d2ee1f98f6a326c710fc74cce7f393d09f5f6a1772694154000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 积分策略改变，倾向于保持减速 2026-03-05 15:02:34 +0800c3d2ee1f98f6a326c710fc74cce7f393d09f5f6afeat: 积分策略改变，倾向于保持减速editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppf380266dceafb579463bc18fa7df5ed7f471852d1772713376000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 积分项回收逻辑调整回上一版，更改参数 2026-03-05 20:22:56 +0800f380266dceafb579463bc18fa7df5ed7f471852dfix: 积分项回收逻辑调整回上一版，更改参数editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppdata/ctrl/observer_debug_data.hppd145f0f980059c43b4cc65cb0b27ce98ea6518121772758594000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 修改防滑log记录 2026-03-06 08:56:34 +0800d145f0f980059c43b4cc65cb0b27ce98ea651812fix: 修改防滑log记录editalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/prepare/prepare_creep.cppdata/ctrl/creep_data.hpp5bf31e54ca59e77e23f3a7a1f85a28f010466bbf1773028157000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 高精轮速使用的防护 2026-03-09 11:49:17 +08005bf31e54ca59e77e23f3a7a1f85a28f010466bbffeat: 高精轮速使用的防护editnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/ctrl/creep_data.hppdata/ctrl/longctrl_data.cppalgorithm/util/quintic_step_trajectory.cpp.gitignoredata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/util/quintic_step_trajectory.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppe3cbaa3b13dd5f79745f716e77e40b9330857d7c1773141745000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加急加速急减损步进功能 2026-03-10 19:22:25 +0800e3cbaa3b13dd5f79745f716e77e40b9330857d7cfeat: 增加急加速急减损步进功能addalgorithm/util/quintic_step_trajectory.hppedit.gitignoreeditconfig/config_truck/ctrl.yamleditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppaddalgorithm/util/quintic_step_trajectory.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cpp388c91187d3a616a710fdb0bd95704c580eae6a31773197052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：解决HopperDump停不到位的问题 2026-03-11 10:44:12 +0800388c91187d3a616a710fdb0bd95704c580eae6a3fix：解决HopperDump停不到位的问题editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yaml01b1500e6493831922a8cdc11deb518a379fbb341773221830000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急加急减程度开放接口 2026-03-11 17:37:10 +080001b1500e6493831922a8cdc11deb518a379fbb34feat: 急加急减程度开放接口editdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_creep.hppeditconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppdata/vehicle/vehicle_chassis.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppnode/process/proc/proc_longitude_controller.hppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/vehicle/vehicle_chassis.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppnode/process/proc/module.hppnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_state.cppnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/vehicle/vehicle_state.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppAGENTS.mdnode/process/proc/proc_parallel_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppe40fafff13f4ca1f7449cf0085aa7a46b0d547841773399517000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构 2026-03-13 18:58:37 +0800e40fafff13f4ca1f7449cf0085aa7a46b0d54784feat: 新增加速度到踏板链路 && 加速度到踏板映射逻辑重构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppeditdata/vehicle/vehicle_chassis.cppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/pedal_mapping_model_base.hppeditnode/process/prepare/prepare_attr.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditnode/process/proc/module.cppeditAGENTS.mdaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditnode/process/prepare/prepare_attr.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.hppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditnode/sink/ros_sink_command.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/calibration_rule_model.hppeditnode/process/proc/proc_parallel_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_mass_estimation.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_static.hppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/vehicle/vehicle_state.cppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditnode/process/proc/proc_longtiude_controller.cppeditdata/vehicle/vehicle_chassis.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp32663748d25744a5bd2904615c27f88b6a0d29bc1773642656000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加机械效率参数 2026-03-16 14:30:56 +080032663748d25744a5bd2904615c27f88b6a0d29bcfeat: 增加机械效率参数editalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppnode/sink/ros_sink_command.cppf99c9f562c5a4fd0cc8cfd4b5b4f73858984356a1773805125000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: vehicle type in command 2026-03-18 11:38:45 +0800f99c9f562c5a4fd0cc8cfd4b5b4f73858984356afix: vehicle type in commandeditnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/trailer_angle_observer.cpp641a3497a25a883c238479db203fd250516ee6b51773806298000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle observer crash issue 2026-03-18 11:58:18 +0800641a3497a25a883c238479db203fd250516ee6b5fix: trailer angle observer crash issueeditalgorithm/ctrl/observer/trailer_angle_observer.cppcommon/other/version.hppCMakeLists.txtnode/main.cppee394f86e5cc32ab6805f125add47ad82366cc311773806330000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: version 2026-03-18 11:58:50 +0800ee394f86e5cc32ab6805f125add47ad82366cc31fix: versioneditcommon/other/version.hppeditnode/main.cppeditCMakeLists.txtdata/vehicle/lane_detection.cpp905c43a1753a6385d62f382fc3c6bf320b6b19d71773827407000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: using map lane with for single line lane detection 2026-03-18 17:50:07 +0800905c43a1753a6385d62f382fc3c6bf320b6b19d7fix: using map lane with for single line lane detectioneditdata/vehicle/lane_detection.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp.gitignoreAGENTS.mdd025509aea60836db61179fced7560174e5101951773915043000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 增加日志记录 2026-03-19 18:10:43 +0800d025509aea60836db61179fced7560174e510195fix: 增加日志记录editdata/ctrl_frame.cppeditAGENTS.mdeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddata/config/cfg_proc_longctrl.cppddd6edfb8930f867b69b34d2b02e76ab5b5764091773985084000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 速度使用参数化 2026-03-20 13:38:04 +0800ddd6edfb8930f867b69b34d2b02e76ab5b576409feat: 速度使用参数化editdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_proc_longctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/ctrl_frame.cppadddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mdeditdata/vehicle/vehicle_state.cpp.gitignore740281d2280833a35e0c526de27f9173534921221773985384000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuochore: ignore worktrees directory 2026-03-20 13:43:04 +0800740281d2280833a35e0c526de27f917353492122chore: ignore worktrees directoryedit.gitignoredata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/longctrl_data.cppAGENTS.mddocs/task_plan.mddocs/progress.mdnode/process/proc/proc_limit.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdocs/findings.mddata/config/cfg_proc_longctrl.cpp64b313d4bff99c56bcf6cb6b5766a3381165d9fa1774269690000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加制动上升斜率 2026-03-23 20:41:30 +080064b313d4bff99c56bcf6cb6b5766a3381165d9fafeat: 增加制动上升斜率editdata/ctrl_frame.cppdeletedocs/findings.mddeletedocs/progress.mdeditAGENTS.mdeditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdeletedocs/task_plan.mdeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/ctrl/longctrl_data.cppdata/CMakeLists.txtf5665304ec7eb886a63685f57ca4eca9039373f21774317711000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat : cmakelist bug 2026-03-24 10:01:51 +0800f5665304ec7eb886a63685f57ca4eca9039373f2feat : cmakelist bugeditdata/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cpp4f6c3a31a92fc8850c5292354d01c7054c05dcb01774437934000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加lmpc算法 2026-03-25 19:25:34 +08004f6c3a31a92fc8850c5292354d01c7054c05dcb0feat: 增加lmpc算法editdata/ctrl/longctrl_data.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/ctrl/longctrl_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/config/cfg_proc_longctrl.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditnode/process/proc/proc_longtiude_controller.cppaddalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppdeletealgorithm/ctrl/lon_controller/pre_truck_lon_controller.hppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppaddalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppaddalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppaddalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppd3c62765b9d3b9ed2daa3a87555415d8802534a41774488082000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: bug 2026-03-26 09:21:22 +0800d3c62765b9d3b9ed2daa3a87555415d8802534a4fix: bugeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppnode/sink/ros_sink_ctrl_debug.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/ctrl/longitude_ctrl_debug_data.cpp2ed4d86973d5d6c2378952c505d4b9cbc1f674a71774509947000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 2026-03-26 15:25:47 +08002ed4d86973d5d6c2378952c505d4b9cbc1f674a7feat: 增加日志editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/sink/ros_sink_ctrl_debug.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cpp3d4d5d48be53eb6ffc00e70943200549aa222a691774514226000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化mpc速度误差补偿 2026-03-26 16:37:06 +08003d4d5d48be53eb6ffc00e70943200549aa222a69feat: 优化mpc速度误差补偿editalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl/creep_data.hppc2d8fa74576c9b71ecdc60198c241056b3b868a71774611573000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准退出日志 2026-03-27 19:39:33 +0800c2d8fa74576c9b71ecdc60198c241056b3b868a7feat: 增加对准退出日志editdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamldata/config/cfg_safe_const.cppnode/process/proc/proc_limit.cppconfig/config_imv/ctrl.yamldata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp5a7d5a618bbddafc08dcd1e48a2760c519bb54891774844354000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停时增加斜率 2026-03-30 12:19:14 +08005a7d5a618bbddafc08dcd1e48a2760c519bb5489feat: 急停时增加斜率editconfig/config_imv/ctrl.yamleditdata/config/cfg_proc_longctrl.cppeditnode/process/proc/proc_limit.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_safe_const.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_safe_const.hppdata/config/cfg_proc_longctrl.cppdb9b1562a5d0c62ff5e8108571405570a0a933de1774928839000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改对准默认参数 2026-03-31 11:47:19 +0800db9b1562a5d0c62ff5e8108571405570a0a933defeat: 更改对准默认参数editdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppalgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppdata/config/cfg_static.cpp55dc095dfd100427852dfd831dbfe979cdab535c1774958796000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门踏板开度发送和质量估计转化适配三一车 2026-03-31 20:06:36 +080055dc095dfd100427852dfd831dbfe979cdab535cfeat: 油门踏板开度发送和质量估计转化适配三一车deletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.hppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditdata/config/cfg_mass_estimation.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppaddalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_types.hppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.cppaddalgorithm/ctrl/lon_controller/capability/common/vehicle_brake_limits.hppdeletealgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_curve_model.cppaddalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppaddalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppaddalgorithm/ctrl/lon_controller/capability/common/mass_estimation_force_surrogate.cppeditdata/config/cfg_mass_estimation.cppdeletealgorithm/ctrl/lon_controller/capability/common/vehicle_physics_limits.hppeditdata/config/cfg_static.hppeditnode/process/prepare/prepare_attr.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/prepare/prepare_attr.cpp640f99f1884330bf9386b7756ae7f81fcb3f62ce1775008449000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加日志 && lmpc bug 2026-04-01 09:54:09 +0800640f99f1884330bf9386b7756ae7f81fcb3f62cefeat: 增加日志 && lmpc bugeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl_frame.cppeditdata/ctrl/observer_debug_data.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppe1aab86f7e4bb1e7ed152dfd01e0f7c81da674151775011283000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: amt gear 和 mpc回退机制优化 2026-04-01 10:41:23 +0800e1aab86f7e4bb1e7ed152dfd01e0f7c81da67415feat: amt gear 和 mpc回退机制优化editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl_frame.cppba22fb9e94468095ba60e8685581d93bba90639f1775013849000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加autoholde日志 2026-04-01 11:24:09 +0800ba22fb9e94468095ba60e8685581d93bba90639ffeat: 增加autoholde日志editdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp0211ee8f37fea537f288ad8783d894d458a835391775025812000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: pid 刹车测略同步原版本 2026-04-01 14:43:32 +08000211ee8f37fea537f288ad8783d894d458a83539feat: pid 刹车测略同步原版本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_mass_estimation.cppdata/config/cfg_static.cpp60fd2beac9e8472c742583611305969b1c2bda421775036062000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 默认参数更改 2026-04-01 17:34:22 +080060fd2beac9e8472c742583611305969b1c2bda42fix: 默认参数更改editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_mass_estimation.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppeditalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditdata/config/cfg_steering_offset_observer.cppdata/ctrl_frame.cppdata/config/cfg_creep.cppdata/ctrl/observer_debug_data.cppdata/ctrl/observer_debug_data.hppnode/process/prepare/prepare_attr.cpp6618b9e57edcf8952f540901f85577fc7345f7ce1775101881000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加质量估计log 2026-04-02 11:51:21 +08006618b9e57edcf8952f540901f85577fc7345f7cefeat: 增加质量估计logeditdata/ctrl/observer_debug_data.cppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppalgorithm/ctrl/pid.hppnode/process/proc/proc_lateral_controller.cppnode/process/proc/proc_limit.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/acc_augment_mpc.cppdata/config/cfg_pid.hppnode/logic.cppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_pid.cppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/config/cfg_steering_offset_observer.cppdata/config/cfg_safe_const.cppdata/common/pid_coef.hppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hppb4394c000ea59cef19f2e36f13367246c90e6a421775187622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 参数梳理 2026-04-03 11:40:22 +0800b4394c000ea59cef19f2e36f13367246c90e6a42feat: 参数梳理editconfig/config_car/ctrl.yamleditnode/logic.cppeditdata/config/cfg_creep.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/pre_truck_creep_controller.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditalgorithm/ctrl/pid.hppeditdata/config/cfg_safe_const.cppeditconfig/config_imv/ctrl.yamleditdata/config/cfg_safe_const.hppdeletedata/config/cfg_pid.cppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/lon_controller/acc_augment_mpc.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppadddata/common/pid_coef.hppeditnode/process/proc/proc_lateral_controller.cppdeletedata/config/cfg_pid.hppeditdata/ctrl_frame.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cpp.gitignorescripts/test_lon_delay_identify.pydocs/lon_delay_identify_usage.md87ced5f272df1f036359f994b20b10e25288b93e1775533486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 油门后处理优化 && 纵向模型辨识脚本 2026-04-07 11:44:46 +080087ced5f272df1f036359f994b20b10e25288b93efeat: 油门后处理优化 && 纵向模型辨识脚本editalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppadddocs/lon_delay_identify_usage.mdedit.gitignoreaddscripts/test_lon_delay_identify.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppaddscripts/lon_delay_identify.pyalgorithm/ctrl/lon_controller/imv_creep_controller.cppbcfb1d5e39e0a806ef11030d7101479722025b151775542073000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: imv creep 中else分支未return的bug 2026-04-07 14:07:53 +0800bcfb1d5e39e0a806ef11030d7101479722025b15fix: imv creep 中else分支未return的bugeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/config/cfg_lon_dynamic_mpc.cppdata/ctrl/longctrl_data.hppbc294ece471569b56035ddcf47ee06db9f5f88cc1775547119000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改油门滤波器 2026-04-07 15:31:59 +0800bc294ece471569b56035ddcf47ee06db9f5f88ccfeat: 更改油门滤波器editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppd2a6d5b408627d8893047da20e2bebaa5312cd381775563487000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: path_direction_lock时对准状态下停车 2026-04-07 20:04:47 +0800d2a6d5b408627d8893047da20e2bebaa5312cd38fix: path_direction_lock时对准状态下停车editalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/pre_truck_lon_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppdocs/truck_creep_upgrade_cleanup.mddata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_creep_controller_2.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/config/cfg_static.cppdata/ctrl/longctrl_data.cppdata/config/cfg_creep.hppdata/ctrl/longctrl_data.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller_2.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppdata/config/cfg_parallel.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppnode/process/proc/proc_longtiude_controller.cppb3e685d2fe51b9d262b94221dac26603b4281f721775627025000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: truck对准控制器重构 2026-04-08 13:43:45 +0800b3e685d2fe51b9d262b94221dac26603b4281f72refactor: truck对准控制器重构editdata/config/cfg_parallel.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.cppeditdata/config/cfg_parallel.hppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_creep.hppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_proc_longctrl.cppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_static.hppeditdata/ctrl/longctrl_data.cppeditdata/config/cfg_static.cppeditdata/ctrl/longctrl_data.hppeditdata/ctrl/creep_data.hppadddocs/truck_creep_upgrade_cleanup.mdeditnode/process/proc/proc_longitude_controller.hppdeletealgorithm/ctrl/lon_controller/truck_creep_controller_2.hppeditdata/config/cfg_creep.cppdeletealgorithm/ctrl/lon_controller/truck_creep_controller.hppaddalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppdata/config/cfg_creep.hppe395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41f1775718386000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加对准时刹超认为完成的功能开关 2026-04-09 15:06:26 +0800e395d78fa1a0b1bef7f35d2b9d6850ad1bfdf41ffeat: 增加对准时刹超认为完成的功能开关editdata/config/cfg_creep.cppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/module.cppCMakeLists.txtalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/module.hppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.hppdocs/findings.mdalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/CMakeLists.txtalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lon_controller/imv_speed_pid.hppdata/config/cfg_creep.hpptest/cfg_lon_config_test.cppconfig/config_truck/ctrl.yamltest/ros_test_main.cppalgorithm/ctrl/lon_controller/imv_speed_pid.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppalgorithm/ctrl/lon_controller/mpc_lon_controller.cppdata/config/cfg_creep.cppdocs/progress.mdnode/process/proc/proc_parallel_controller.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.hpptest/imv_speed_pid_test.cppdata/config/cfg_proc_longctrl.cppdata/config/cfg_dynamic.hppconfig/config_car/ctrl.yamlnode/process/proc/proc_move_step_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp8d321998c0e7fa22a06d3e0cfb552c08cf18739b1776140770000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化imv纵向控制架构 2026-04-14 12:26:10 +08008d321998c0e7fa22a06d3e0cfb552c08cf18739bfeat: 优化imv纵向控制架构editalgorithm/ctrl/parallel_controller/parallel_controller.hppaddnode/process/proc/proc_move_step_controller.hppeditdata/config/cfg_creep.cppadddocs/task_plan.mdaddnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditCMakeLists.txteditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditconfig/config_imv/ctrl.yamleditnode/process/proc/module.cppeditalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddtest/cfg_creep_config_test.cppaddtest/imv_speed_pid_test.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_dynamic.hppadddocs/progress.mdaddtest/ros_test_main.cppaddtest/cfg_lon_config_test.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditnode/process/proc/proc_parallel_controller.cppaddalgorithm/ctrl/lon_controller/imv_speed_pid.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_dynamic.cppeditnode/process/proc/module.hppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppaddalgorithm/ctrl/lon_controller/imv_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppaddalgorithm/ctrl/lon_controller/imv_speed_pid.cppeditconfig/config_car/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppaddalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditconfig/config_truck/ctrl.yamldeletealgorithm/ctrl/lon_controller/mpc_lon_controller.cppaddalgorithm/ctrl/lon_controller/imv_move_step_controller.cppdeletealgorithm/ctrl/lon_controller/mpc_lon_controller.hppadddocs/findings.mdaddtest/CMakeLists.txttest/imv_align_mode_guard_test.cpptest/sc_runtime_adaptation_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/vehicle/vehicle_config.cppdocs/review_lon_refactor_20260414.mdtest/imv_lon_emergency_brake_test.cppnode/sink/ros_sink_command.hppdata/vehicle/vehicle_config.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppconfig/config_imv/vehicle_config.yamltest/sc_move_step_mode_test.cppconfig/config_truck/vehicle_config.yamlnode/process/proc/proc_controller_routing.hppnode/sink/ros_sink_command.cppdocs/review_sc_migration_20250716.mdtest/sc_sink_command_test.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txtdata/config/cfg_static.cppconfig/config_car/vehicle_config.yamlalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hpptest/sc_vehicle_config_test.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cpptest/cfg_lon_config_test.cpptest/ros_test_main.cppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_proc_longctrl.hpptest/sc_proc_routing_test.cppconfig/config_sc/vehicle_config.yamldata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cpptest/sc_align_controller_test.cppconfig/config_sc/ctrl.yamlnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/process/proc/proc_move_step_controller.cpp0cf715a8f060d85c1d83e7a1ae885b56fddcae061776149734000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配 2026-04-14 14:55:34 +08000cf715a8f060d85c1d83e7a1ae885b56fddcae06feat: SC车型适配editdata/vehicle/vehicle_state.cppaddtest/imv_lon_emergency_brake_test.cppeditdata/config/cfg_proc_longctrl.cppaddtest/sc_sink_command_test.cppeditdata/vehicle/vehicle_config.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditnode/process/proc/proc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.cppaddtest/imv_align_mode_guard_test.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditnode/process/proc/proc_longtiude_controller.cppeditdata/config/cfg_static.cppdeletealgorithm/ctrl/lon_controller/lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditconfig/config_imv/vehicle_config.yamladdtest/sc_runtime_adaptation_test.cppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddtest/sc_move_step_mode_test.cppedittest/CMakeLists.txteditdata/config/cfg_creep.cppeditconfig/config_car/vehicle_config.yamladddocs/review_lon_refactor_20260414.mdeditnode/sink/ros_sink_command.cppaddtest/sc_creep_config_test.cppaddalgorithm/ctrl/lon_controller/sc_align_utils.hppaddalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditnode/process/prepare/prepare_creep.cppaddtest/sc_align_controller_test.cppeditdata/config/cfg_creep.hppaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppaddconfig/config_sc/ctrl.yamladddocs/review_sc_migration_20250716.mdaddalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppaddnode/process/proc/proc_controller_routing.hppeditdata/vehicle/vehicle_config.hppedittest/cfg_creep_config_test.cppaddtest/sc_vehicle_config_test.cppeditconfig/config_truck/vehicle_config.yamleditnode/sink/ros_sink_command.hppaddconfig/config_sc/vehicle_config.yamladdtest/sc_proc_routing_test.cppedittest/cfg_lon_config_test.cppedittest/ros_test_main.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/process/proc/proc_move_step_controller.hppdocs/task_plan.md"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/progress.mddocs/findings.mdtest/sc_proc_move_step_controller_test.cpptest/CMakeLists.txtnode/process/proc/proc_move_step_controller.cpp9c6f4a6af36b0985c7de3002ff228f268477843a1776214639000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc和imv重构review完成 2026-04-15 08:57:19 +08009c6f4a6af36b0985c7de3002ff228f268477843afeat: sc和imv重构review完成editnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/process/proc/proc_move_step_controller.hppeditdocs/findings.mdeditdocs/progress.mdeditdocs/task_plan.mdaddtest/sc_proc_move_step_controller_test.cppedittest/CMakeLists.txtadd"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"algorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdocs/truck_creep_upgrade_cleanup.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/ctrl/longctrl_data.hpp"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"docs/review_lon_refactor_20260414.mddata/config/cfg_lon_dynamic_mpc.hppdocs/progress.mdalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_lon_dynamic_mpc.cppdocs/review_sc_migration_20250716.mddocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdocs/findings.mddocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddocs/lon_delay_identify_usage.md6069d81632ed54a6d5c72a0f32d79615314ced491776406551000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 同步非线形mpc 2026-04-17 14:15:51 +08006069d81632ed54a6d5c72a0f32d79615314ced49feat: 同步非线形mpceditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletedocs/2026-03-20-truck-lon-pid-mpc-unified-plan.mddeletedocs/truck_creep_upgrade_cleanup.mddeletedocs/review_lon_refactor_20260414.mddeletedocs/task_plan.mddelete"docs/2026-04-14-\347\216\260\345\234\272\346\216\247\345\210\266\347\250\213\345\272\217\346\233\277\346\215\242\345\217\257\350\241\214\346\200\247\350\257\204\344\274\260.md"editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.hppdeletedocs/progress.mddeletedocs/review_sc_migration_20250716.mdeditdata/ctrl/longctrl_data.hppdeletedocs/lon_delay_identify_usage.mdeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppdeletedocs/findings.mdeditdata/config/cfg_lon_dynamic_mpc.cpptest/imv_align_mode_guard_test.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/cfg_creep_config_test.cppnode/process/prepare/prepare_attr.cppdata/config/cfg_lon_dynamic_mpc.hpptest/imv_lon_emergency_brake_test.cppnode/process/proc/proc_longitude_controller.hppalgorithm/ctrl/lon_controller/truck_creep_controller.hpptest/sc_move_step_mode_test.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/imv_creep_controller.hppnode/process/prepare/prepare_creep.hppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpptest/sc_proc_move_step_controller_test.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpptest/sc_vehicle_config_test.cppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hpptest/sc_proc_routing_test.cpptest/imv_speed_pid_test.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_lon_dynamic_mpc.cpptest/sc_align_controller_test.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_align_creep_controller.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cpptest/sc_runtime_adaptation_test.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/proc/proc_controller_routing.hpptest/sc_sink_command_test.cppalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/sc_creep_config_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppnode/process/prepare/prepare_creep.cpptest/CMakeLists.txttest/cfg_lon_config_test.cppdata/ctrl/vehicle_attr.hppalgorithm/ctrl/lon_controller/imv_move_step_controller.hppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_align_creep_controller.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppda67d245e737cd818163f063162c7cd0890b38f11776998597000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuorefactor: 对准相关内容重构 2026-04-24 10:43:17 +0800da67d245e737cd818163f063162c7cd0890b38f1refactor: 对准相关内容重构editnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdeletetest/sc_creep_config_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_controller_routing.hppdeletetest/sc_sink_command_test.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppdeletetest/sc_runtime_adaptation_test.cppdeletetest/imv_align_mode_guard_test.cppdeletetest/sc_proc_move_step_controller_test.cppdeletetest/sc_vehicle_config_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditdata/ctrl/vehicle_attr.hppeditalgorithm/ctrl/lon_controller/truck_tracking_algorithm_interface.hppdeletetest/sc_proc_routing_test.cppedittest/CMakeLists.txtdeletealgorithm/ctrl/lon_controller/truck_align_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppdeletetest/cfg_creep_config_test.cppdeletetest/sc_align_controller_test.cppaddalgorithm/ctrl/lon_controller/truck_creep_common.cppeditnode/process/prepare/prepare_creep.cppdeletetest/imv_speed_pid_test.cppeditdata/config/cfg_lon_dynamic_mpc.cppdeletetest/cfg_lon_config_test.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/process/prepare/prepare_creep.hppaddalgorithm/ctrl/lon_controller/truck_creep_controller.cppdeletetest/sc_move_step_mode_test.cppaddtest/controller_minimal_red_test.cppeditdata/config/cfg_creep.hppeditdata/ctrl/creep_data.hppeditnode/process/proc/proc_longitude_controller.hppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppdeletetest/imv_lon_emergency_brake_test.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_binary_logger.hppdata/config/cfg_lon_dynamic_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtd37e229636f8b0866f83534de07d5ffbdf9fc1461777283964000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向动力学日志记录改为二进制方法 Co-authored-by: Copilot <copilot@github.com> 2026-04-27 17:59:24 +0800d37e229636f8b0866f83534de07d5ffbdf9fc146feat: 纵向动力学日志记录改为二进制方法editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppaddscripts/lon_dynamics_bin_to_csv.pyadddata/lon_dynamics_binary_logger.cppadddata/lon_dynamics_binary_logger.hppedittest/CMakeLists.txteditdata/ctrl_frame.cppeditCMakeLists.txtaddtest/lon_dynamics_binary_log_test.cpp.gitignorealgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/lon_dynamics_binary_logger.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdocs/progress.mdalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdocs/task_plan.mdalgorithm/ctrl/lon_controller/truck_move_step_controller.cpptest/accel_to_pedal_converter_test.cpptest/lon_dynamics_binary_log_test.cppdocs/findings.mdscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpptest/CMakeLists.txtdata/config/cfg_static.cpp8fc23da0299441ec01c6abf27c6fcbfc0b6d4a311777337378000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制器状态清空 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 08:49:38 +08008fc23da0299441ec01c6abf27c6fcbfc0b6d4a31feat: 控制器状态清空editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditdata/ctrl_frame.cppaddtest/truck_lon_dynamic_mpc_dispatch_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppaddtest/accel_to_pedal_converter_test.cppedit.gitignoreeditdata/lon_dynamics_binary_logger.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadddocs/progress.mdeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppedittest/lon_dynamics_binary_log_test.cppadddocs/task_plan.mdeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/lon_dynamics_binary_logger.hppadddocs/findings.mdeditscripts/lon_dynamics_bin_to_csv.pyeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_static.hppedittest/CMakeLists.txtconfig/config_truck/ctrl.yamldata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_mass_estimation.hppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlnode/process/prepare/prepare_state.cppconfig/config_imv/ctrl.yamlscripts/lon_dynamics_bin_to_csv.pydata/lon_dynamics_binary_logger.cpp808650d279cb2d41240017e1b43cd89a3db625e11777342727000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 考虑弯道阻力系数 2026-04-28 10:18:47 +0800808650d279cb2d41240017e1b43cd89a3db625e1feat: 考虑弯道阻力系数editdata/config/cfg_mass_estimation.hppeditdata/ctrl_frame.cppeditscripts/lon_dynamics_bin_to_csv.pyeditdata/config/cfg_mass_estimation.cppeditconfig/config_car/ctrl.yamleditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_binary_logger.hppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/lon_dynamics_binary_logger.cpptest/truck_lon_dynamic_mpc_dispatch_test.cppdata/lon_dynamics_binary_logger.hppdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppdata/config/cfg_mass_estimation.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_mass_estimation.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pynode/process/prepare/prepare_creep.cppdata/lon_dynamics_binary_logger.cppa088c6497961d535b556c297e4287f883fe365011777379531000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 弯道阻力处理优化反向作业对准适配 Co-authored-by: Copilot <copilot@github.com> 2026-04-28 20:32:11 +0800a088c6497961d535b556c297e4287f883fe36501feat: 弯道阻力处理优化反向作业对准适配editdata/vehicle/vehicle_state.cppeditdata/lon_dynamics_binary_logger.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_mass_estimation.cppeditdata/config/cfg_proc_longctrl.hppeditdata/lon_dynamics_binary_logger.cppeditscripts/lon_dynamics_bin_to_csv.pyedittest/lon_dynamics_binary_log_test.cppedittest/accel_to_pedal_converter_test.cppedittest/truck_lon_dynamic_mpc_dispatch_test.cppeditdata/config/cfg_creep.cppeditdata/config/cfg_mass_estimation.hppeditalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.hppeditdata/ctrl_frame.cppeditdata/config/cfg_proc_longctrl.cppeditnode/process/prepare/prepare_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_parallel.hppalgorithm/ctrl/parallel_controller/fpid_controller.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppconfig/config_car/ctrl.yamltest/controller_minimal_red_test.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_parallel.cppalgorithm/ctrl/parallel_controller/fpid_controller.cpp59e9b433c164594372c7090203ca62307502effd1777442486000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck的平行驾驶使用mpc纵向控制 Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:01:26 +080059e9b433c164594372c7090203ca62307502effdfeat: truck的平行驾驶使用mpc纵向控制edittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_parallel.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_sc/ctrl.yamldeletealgorithm/ctrl/parallel_controller/fpid_controller.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppdeletealgorithm/ctrl/parallel_controller/fpid_controller.cppeditconfig/config_car/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_parallel.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppf02c93d67a826b644223fcff9c3c357fa1e38cc81777445172000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log Co-authored-by: Copilot <copilot@github.com> 2026-04-29 14:46:12 +0800f02c93d67a826b644223fcff9c3c357fa1e38cc8feat: logeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/lon_dynamics_binary_logger.hpptest/lon_dynamics_binary_log_test.cppscripts/lon_dynamics_bin_to_csv.pyCMakeLists.txtdata/lon_dynamics_binary_logger.cpptest/CMakeLists.txt146f679815bc03a35709f2af3d2468309e0b90a01777527366000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志log改回csv Co-authored-by: Copilot <copilot@github.com> 2026-04-30 13:36:06 +0800146f679815bc03a35709f2af3d2468309e0b90a0fix: 日志log改回csvdeletescripts/lon_dynamics_bin_to_csv.pyeditdata/ctrl_frame.cppdeletedata/lon_dynamics_binary_logger.hppadddata/lon_dynamics_csv_logger.hppadddata/lon_dynamics_csv_logger.cppdeletetest/lon_dynamics_binary_log_test.cppaddtest/lon_dynamics_csv_log_test.cppdeletedata/lon_dynamics_binary_logger.cppeditCMakeLists.txtedittest/CMakeLists.txtdata/ctrl/vehicle_attr.cpp9dcbbcae08bbae54bbe61235e6d1710d9e0b678c1778066063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: wrls质量初始化 2026-05-06 19:14:23 +08009dcbbcae08bbae54bbe61235e6d1710d9e0b678cfix: wrls质量初始化editdata/ctrl/vehicle_attr.cppcommon/log/log_config.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppcommon/log/log_config.hppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpptest/CMakeLists.txt7ad52293228254aa3c9470982a700c225b93cd451778226814000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: log记录跨天问题辅助起步问题非线性通用性问题 2026-05-08 15:53:34 +08007ad52293228254aa3c9470982a700c225b93cd45feat: log记录跨天问题辅助起步问题非线性通用性问题editcommon/log/log_config.hppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txteditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/log/log_config.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcommon/log/log_config.cppcommon/log/log_config.hppnode/main.cpp6f0b69117052238cc2df7936efff8611fd51c3de1778304928000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: log日志使用修改 2026-05-09 13:35:28 +08006f0b69117052238cc2df7936efff8611fd51c3defix: log日志使用修改editcommon/log/log_config.hppeditnode/main.cppeditcommon/log/log_config.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/sc_align_utils.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/vehicle/vehicle_chassis.hppdata/vehicle/vehicle_chassis.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppalgorithm/ctrl/observer/trailer_angle_observer.cppdata/plan/plan_data.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppalgorithm/ctrl/observer/trailer_angle_observer.hpptest/controller_minimal_red_test.cppnode/sink/ros_sink_command.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/plan/plan_data.hpp621e18db0b18e2ceb9c274649fa3686635ede84f1778497355000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC自转适配 && SC对准控制器优化 2026-05-11 19:02:35 +0800621e18db0b18e2ceb9c274649fa3686635ede84ffeat: SC自转适配 && SC对准控制器优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/config/cfg_mpc_qp.hppeditdata/plan/plan_data.hppeditdata/vehicle/vehicle_chassis.cppeditdata/vehicle/vehicle_chassis.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/trailer_angle_observer.hppeditdata/ctrl/lateral_cmd.cppeditdata/ctrl/lateral_cmd.hppeditdata/config/cfg_mpc_qp.cppeditdata/plan/plan_data.cppedittest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/trailer_angle_observer.cppdeletealgorithm/ctrl/lon_controller/sc_align_utils.hppeditnode/sink/ros_sink_command.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.hppdata/config/cfg_creep.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hpp010aa5928ff86218afd418e08e289052c1db62e21778502088000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载对准停车设定单独参数 2026-05-11 20:21:28 +0800010aa5928ff86218afd418e08e289052c1db62e2feat: 重载对准停车设定单独参数editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppalgorithm/util/quintic_step_trajectory.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/util/quintic_step_trajectory.hppdata/vehicle/vehicle_state.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp0741869b08f0da8bf53f46cb42273f52abb9ce7c1778545992000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0 2026-05-12 08:33:12 +08000741869b08f0da8bf53f46cb42273f52abb9ce7cfeat: 太阳卸货提车速度规划重构对准超调认为完成增加距离阈值增加参数强制将俯仰角设成0editdata/vehicle/vehicle_state.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditdata/config/cfg_creep.hppdeletealgorithm/util/quintic_step_trajectory.hppdeletealgorithm/util/quintic_step_trajectory.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppedittest/controller_minimal_red_test.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cpptest/lon_dynamics_csv_log_test.cppdata/ctrl/velocity_cmd.hppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cppalgorithm/ctrl/lon_controller/truck_creep_common.hpp8461e0239c7cf59ad5bae4c6c41442c89964cf001778586047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助 2026-05-12 19:40:47 +08008461e0239c7cf59ad5bae4c6c41442c89964cf00feat: 起步辅助editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl/velocity_cmd.cppedittest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppeditdata/ctrl/velocity_cmd.hppeditdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp1113108e4dcbead838190d9967b898c5d82630961778719600000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步 2026-05-14 08:46:40 +08001113108e4dcbead838190d9967b898c5d8263096feat:1.减速度接口满载防护-行车和对准；2.增加坡度上限；3.重载独立制动死区；4.增加重载俯仰角偏置补偿；5.匀速曲线允许判断为起步editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_proc_longctrl.hppeditdata/vehicle/vehicle_state.hppeditnode/process/prepare/prepare_state.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp61031d124535ea1ec13d8533d729ff508909c64d1778722672000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重载刹车非线性接口应为踏板开度 2026-05-14 09:37:52 +080061031d124535ea1ec13d8533d729ff508909c64dfix: 重载刹车非线性接口应为踏板开度editdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/vehicle/vehicle_state.cpp657b54465610224ad6b8d7eeed6422065c5a1db91778723063000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 坡度限幅放在滤波器的输入端 2026-05-14 09:44:23 +0800657b54465610224ad6b8d7eeed6422065c5a1db9fix: 坡度限幅放在滤波器的输入端editdata/vehicle/vehicle_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp5f140b54963e9764a4712548897c5692baff9c3e1778738624000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：重载单独设定刹车gain 2026-05-14 14:03:44 +08005f140b54963e9764a4712548897c5692baff9c3efeat：重载单独设定刹车gaineditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp1836a20773dc8c04d3527cc01cac3a30c241d77f1778747607000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 重载时增大纵向mpo减速度变化量 2026-05-14 16:33:27 +08001836a20773dc8c04d3527cc01cac3a30c241d77ffeat: 重载时增大纵向mpo减速度变化量editdata/config/cfg_lon_dynamic_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpp36d5e2c034164be5b478ae5e2469b88a256a86a81778749478000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准刹超时增大刹车 2026-05-14 17:04:38 +080036d5e2c034164be5b478ae5e2469b88a256a86a8feat: 对准刹超时增大刹车editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp191df70c8b66e49b195bd03f632fc47847491e951778761240000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：速度误差计算方式修改 2026-05-14 20:20:40 +0800191df70c8b66e49b195bd03f632fc47847491e95fix：速度误差计算方式修改editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppnode/process/prepare/prepare_traj.cppddebb2c2956281df7fcdba9d3349562731de81a51778837609000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: kappa direciton for SC 2026-05-15 17:33:29 +0800ddebb2c2956281df7fcdba9d3349562731de81a5fix: kappa direciton for SCeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.hpp59b6cc948c1de15b567fd4fc12825bf71c7fba291779107029000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型对准和步进优化 2026-05-18 20:23:49 +080059b6cc948c1de15b567fd4fc12825bf71c7fba29feat: SC车型对准和步进优化editalgorithm/ctrl/lon_controller/sc_creep_controller.hppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.hppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/config/cfg_creep.hppeditdata/config/cfg_creep.cppdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cpp4ec13716a5533cbb8085d41611c2cb0e24f1cd5d1779153731000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加原始pitch角度观测 2026-05-19 09:22:11 +08004ec13716a5533cbb8085d41611c2cb0e24f1cd5dfeat: 增加原始pitch角度观测editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cpp00f70ddff9c9e5db18b52fc4aa338822a1f6a5aa1779157361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型适配倒车 2026-05-19 10:22:41 +080000f70ddff9c9e5db18b52fc4aa338822a1f6a5aafeat: SC车型适配倒车editalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp60cdce1c5418f7c882f16cca9121503ee6e705eb1779251886000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: sc 和 imv的move step修正 2026-05-20 12:38:06 +080060cdce1c5418f7c882f16cca9121503ee6e705ebfeat: sc 和 imv的move step修正editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/lon_dynamics_csv_logger.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hpp7cc625a4148974386d026d6a4377881f08cf45f61779267455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加速度IMV观测 2026-05-20 16:57:35 +08007cc625a4148974386d026d6a4377881f08cf45f6feat: 增加速度IMV观测editdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cpp07499259dc3a5e961629b85e5850cd0cde2434cf1779272915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对齐速度IMV纵向控制 2026-05-20 18:28:35 +080007499259dc3a5e961629b85e5850cd0cde2434cffeat: 对齐速度IMV纵向控制editalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/process/prepare/prepare_attr.hppmath/identification/parking_distance_estimator.cppnode/process/prepare/prepare_attr.cppf78b6e2af86e7d1d993cbb68ba42ca24e3e423da1779367098000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 低速停车距离优化 2026-05-21 20:38:18 +0800f78b6e2af86e7d1d993cbb68ba42ca24e3e423dafeat: 低速停车距离优化editnode/process/prepare/prepare_attr.hppeditnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_log_helper.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_parallel.hppcommon/log/async_log_writer.hppcommon/log/log_channel.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.hppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppcommon/CMakeLists.txtdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.hppcommon/log/async_log_writer.cppalgorithm/ctrl/lon_controller/truck_creep_controller.hppalgorithm/ctrl/lon_controller/imv_lon_log_helper.cppdata/ctrl_frame.cppdata/config/cfg_log.cppalgorithm/ctrl/lon_controller/imv_creep_controller.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppcommon/log/log_channel.cppdata/ctrl_frame.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/config/cfg_log.hppalgorithm/ctrl/lon_controller/truck_lon_log_helper.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.hppdata/ctrl/observer_debug_data.cppdata/config/cfg_lon_dynamic_mpc.cppcommon/log/spsc_ring_buffer.hppcommon/log/csv_row_builder.hppdata/config/cfg_parallel.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppdata/ctrl/longitude_ctrl_debug_data.hppdata/ctrl/observer_debug_data.hppnode/process/proc/proc_move_step_controller.cppb7f69bd5c50ddefd4e06f54706cf73185a13f5451779781556000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志记录重构纵向mpc增加热启动关闭polish 2026-05-26 15:45:56 +0800b7f69bd5c50ddefd4e06f54706cf73185a13f545feat: 控制日志记录重构纵向mpc增加热启动关闭polishdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.cppaddcommon/log/async_log_writer.cppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditdata/config/cfg_parallel.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_osqp_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.hppeditdata/config/cfg_parallel.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppaddcommon/log/async_log_writer.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/config/cfg_proc_longctrl.cppaddcommon/log/log_channel.cppeditdata/ctrl_frame.hppeditalgorithm/ctrl/lon_controller/truck_creep_controller.hppdeletealgorithm/ctrl/lon_controller/truck_lon_log_helper.hppaddcommon/log/spsc_ring_buffer.hppeditdata/ctrl/observer_debug_data.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditcommon/CMakeLists.txtaddcommon/log/log_channel.hppeditdata/config/cfg_proc_longctrl.hppaddalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdeletealgorithm/ctrl/lon_controller/imv_lon_log_helper.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppadddata/config/cfg_log.hppeditdata/lon_dynamics_csv_logger.cppaddcommon/log/csv_row_builder.hppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_longtiude_controller.cppeditnode/logic.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/sc_creep_controller.hppeditdata/ctrl/observer_debug_data.cppadddata/config/cfg_log.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cpp16edb1307eef7d30b115c41d9bae87e00bef87611779786590000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 放宽阈值 2026-05-26 17:09:50 +080016edb1307eef7d30b115c41d9bae87e00bef8761feat: 放宽阈值editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppdata/ctrl_frame.cppcommon/log/async_log_writer.hppcommon/log/log_channel.hpptest/lon_dynamics_csv_log_test.cppnode/logic.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppcommon/log/async_log_writer.cpptest/CMakeLists.txt1036119bd8e46ff3e7e6b545a0c2fd2ba557ef791779799268000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 日志记录地址更改 persistent_solver更改 2026-05-26 20:41:08 +08001036119bd8e46ff3e7e6b545a0c2fd2ba557ef79fix: 日志记录地址更改 persistent_solver更改editcommon/log/log_channel.hppdeletetest/lon_dynamics_csv_log_test.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditcommon/log/async_log_writer.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditnode/logic.cppeditcommon/log/async_log_writer.hppedittest/CMakeLists.txtdata/ctrl_frame.cppcommon/log/log_channel.cppdata/ctrl_frame.hppcommon/log/log_channel.hppcommon/log/async_log_writer.cpp825e8cadf26ab773e82286f438170bad83ac55231779842694000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准日志记录分割 2026-05-27 08:44:54 +0800825e8cadf26ab773e82286f438170bad83ac5523feat: 对准日志记录分割editdata/ctrl_frame.cppeditcommon/log/async_log_writer.cppeditcommon/log/log_channel.cppeditcommon/log/log_channel.hppeditdata/ctrl_frame.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/lon_dynamics_csv_logger.cpp526490e36ef0e42da0f63e208bca09f7b68e377e1779844795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 更改日志 2026-05-27 09:19:55 +0800526490e36ef0e42da0f63e208bca09f7b68e377efeat: 更改日志editdata/lon_dynamics_csv_logger.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppeditdata/ctrl_frame.cppdata/config/cfg_log.cppdata/config/cfg_parking_distance.cppmath/identification/parking_distance_estimator.hppnode/process/prepare/prepare_attr.cppnode/logic.cppmath/identification/parking_distance_estimator.cppdata/config/cfg_parking_distance.hppalgorithm/ctrl/lon_controller/longitude_controller.cppc5fb4abc8945e0cda7c1444fbd62443e1723220d1779875379000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 小速度停车距离预估调整 2026-05-27 17:49:39 +0800c5fb4abc8945e0cda7c1444fbd62443e1723220dfeat: 小速度停车距离预估调整editnode/process/prepare/prepare_attr.cppeditmath/identification/parking_distance_estimator.cppeditdata/config/cfg_parking_distance.cppeditdata/config/cfg_parking_distance.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditnode/logic.cppeditdata/config/cfg_log.cppeditmath/identification/parking_distance_estimator.hppmath/identification/parking_distance_estimator.cppf2d7bf06fcddb4e3183488676e76e6401dcbd55e1779884405000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 停车距离预估除0风险 2026-05-27 20:20:05 +0800f2d7bf06fcddb4e3183488676e76e6401dcbd55efix: 停车距离预估除0风险editmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppffd3f64743d23b5e47ac96cea72192db17655b611780024900000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 调整安全逻辑 2026-05-29 11:21:40 +0800ffd3f64743d23b5e47ac96cea72192db17655b61feat: 调整安全逻辑editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppab4f28720170f1bdc0956db88dff1e9001fc52051780050440000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 求解超时软约束 2026-05-29 18:27:20 +0800ab4f28720170f1bdc0956db88dff1e9001fc5205feat: 求解超时软约束editalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp1b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb51780303421000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加底层默认空载或重载的制动链路 2026-06-01 16:43:41 +08001b7f92f27f22d3e1c0ac8bf69e8418903fa3aeb5feat: 增加底层默认空载或重载的制动链路editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditdata/config/cfg_static.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppdata/config/cfg_static.cpp3b6cb7ca7303b2565cfdb8b9a56ea08967ab1b461780305363000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：参数读取兼容旧版本 2026-06-01 17:16:03 +08003b6cb7ca7303b2565cfdb8b9a56ea08967ab1b46feat：参数读取兼容旧版本editdata/config/cfg_static.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cpp2c13544ec9851d593955d9ce97616a5b98ea0d8a1780486760000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行/摇控错误详细日志 2026-06-03 19:39:20 +08002c13544ec9851d593955d9ce97616a5b98ea0d8afeat: 平行/摇控错误详细日志editalgorithm/ctrl/parallel_controller/parallel_controller.cppeditnode/source/ros_source_remote_cmd.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cpp58a88a828b5adcffa261bec3fb5f527db69346e81780566223000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复 2026-06-04 17:43:43 +080058a88a828b5adcffa261bec3fb5f527db69346e8fix: 纵向mpc急刹后无可行解处理 && pid fallback后自动恢复editalgorithm/ctrl/lon_controller/truck_mpc_tracking_algorithm.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppafbd16d6aacda444508f4f3492b49bff8d41f9ff1780569915000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向mpc适配仿真 2026-06-04 18:45:15 +0800afbd16d6aacda444508f4f3492b49bff8d41f9fffeat: 纵向mpc适配仿真editdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppnode/source/ros_source_remote_cmd.cppnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp57d7ccd1fa79d4f2f9ba1d288dd22494181395351780579940000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 任何停车后都reset纵向控制器 2026-06-04 21:32:20 +080057d7ccd1fa79d4f2f9ba1d288dd2249418139535feat: 任何停车后都reset纵向控制器editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.hppeditnode/source/ros_source_remote_cmd.cppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/source/ros_source_parallel_cmd.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/vehicle/vehicle_command.cppalgorithm/ctrl/lon_controller/longitude_controller.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_safe_const.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdab69864c612b84910939f860810f14a4e9bd7e91780634165000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99 2026-06-05 12:36:05 +0800dab69864c612b84910939f860810f14a4e9bd7e9feat: 新增静止超过10秒自动切换P挡功能；制动上限硬编码由1改到0.99editdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_command.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/truck_pid_tracking_algorithm.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppcc2804b12ccfc2faf86b65000a26298b511e8c4e1780727395000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 静止状态处理 2026-06-06 14:29:55 +0800cc2804b12ccfc2faf86b65000a26298b511e8c4efix: 静止状态处理editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp6bbd4b84939e3e01b8b32d7409633fdac1beb9881780730224000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 重置mpc控制器处理优化 2026-06-06 15:17:04 +08006bbd4b84939e3e01b8b32d7409633fdac1beb988fix: 重置mpc控制器处理优化editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cpp565460cdf3079a19d6a3e73e09566343195500511780730441000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：不在emergency stop过程中重置 2026-06-06 15:20:41 +0800565460cdf3079a19d6a3e73e0956634319550051fix：不在emergency stop过程中重置editalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppconfig/config_car/ctrl.yamldata/config/cfg_creep.hppconfig/config_truck/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_creep.cppconfig/config_imv/ctrl.yamlc22027471cb2519f887a4e3d2ba1e67a9f44dc961780754564000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：平行驾驶无油门制动参数化 2026-06-06 22:02:44 +0800c22027471cb2519f887a4e3d2ba1e67a9f44dc96feat：平行驾驶无油门制动参数化editconfig/config_car/ctrl.yamleditconfig/config_imv/ctrl.yamleditdata/config/cfg_creep.cppeditconfig/config_sc/ctrl.yamleditconfig/config_truck/ctrl.yamleditdata/config/cfg_creep.hppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdocs/startup_traction_control_review.mdalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppalgorithm/ctrl/lon_controller/truck_creep_common.cpptest/accel_to_pedal_converter_test.cppdata/ctrl/observer_debug_data.hpp464d5dafadb306745af21ff8b4499de969db5a0b1780977170000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑 2026-06-09 11:52:50 +0800464d5dafadb306745af21ff8b4499de969db5a0bfeat: 坡度设定使用下限；IMV防滑优化；打开所有部分的防滑editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/observer_debug_data.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/low_speed_pedal_post_processor.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.cppeditdata/vehicle/vehicle_state.cppadddocs/startup_traction_control_review.mdeditalgorithm/ctrl/lon_controller/truck_creep_common.cppedittest/accel_to_pedal_converter_test.cppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_state.cppbd822e5d2f454af7541041916795ca862519e3a21780983457000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 平行驾驶补偿 2026-06-09 13:37:37 +0800bd822e5d2f454af7541041916795ca862519e3a2feat: 平行驾驶补偿editnode/sink/ros_sink_command.cppeditnode/process/prepare/prepare_state.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"data/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppconfig/config_imv/ctrl.yamlalgorithm/ctrl/observer/steering_offset_observer.hpptest/CMakeLists.txt9c94ea13a42554c9b248d3986a09d99d848e3dce1781090714000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: imv零偏补偿尝试 2026-06-10 19:25:14 +08009c94ea13a42554c9b248d3986a09d99d848e3dcefeat: imv零偏补偿尝试editalgorithm/ctrl/observer/steering_offset_observer.cppeditconfig/config_imv/ctrl.yamleditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_steering_offset_observer.cppadd"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/observer_debug_data.cppedittest/CMakeLists.txteditdata/ctrl/lateral_cmd.cppeditnode/sink/ros_sink_command.cppeditdata/ctrl/lateral_cmd.hppeditnode/process/proc/module.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/vehicle/vehicle_state.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppdata/vehicle/vehicle_state.cppdata/config/cfg_steering_offset_observer.hppaa33cc3f05fb294dac4da49d3566df9de6a93fae1781092715000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底层反馈转向角适配零偏 2026-06-10 19:58:35 +0800aa33cc3f05fb294dac4da49d3566df9de6a93faefeat: 底层反馈转向角适配零偏editdata/config/cfg_steering_offset_observer.hppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.hppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/vehicle/vehicle_state.cppdata/ctrl_frame.cppnode/process/proc/proc_lateral_controller.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/observer/steering_offset_observer.cpp0241a9f93d923636a3a033479365abb1172029211781154011000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏双模态学习 2026-06-11 13:00:11 +08000241a9f93d923636a3a033479365abb117202921feat: IMV零偏双模态学习editdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.hppdata/ctrl/lateral_cmd.cppdata/lon_dynamics_csv_logger.cpp"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"algorithm/ctrl/observer/steering_offset_observer.cppdata/ctrl/lateral_cmd.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/proc/module.cppdata/ctrl_frame.cppdata/ctrl/observer_debug_data.cppdata/config/cfg_steering_offset_observer.cppnode/sink/ros_sink_command.cppalgorithm/ctrl/observer/steering_offset_observer.hppconfig/config_imv/ctrl.yamltest/CMakeLists.txtb7e550761649890d1309cb420994410d8ff4799b1781156228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuoRevert "feat: imv零偏补偿尝试" This reverts commit 9c94ea13a42554c9b248d3986a09d99d848e3dce. 2026-06-11 13:37:08 +0800b7e550761649890d1309cb420994410d8ff4799bRevert "feat: imv零偏补偿尝试"editnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.cppeditdata/ctrl/lateral_cmd.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/proc/module.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/sink/ros_sink_command.cppeditdata/ctrl/observer_debug_data.cppeditdata/lon_dynamics_csv_logger.cppdelete"docs/IMV\345\233\233\350\275\256\350\275\254\345\220\221\351\233\266\345\201\217\350\241\245\345\201\277\345\256\236\346\226\275\350\256\241\345\210\222.md"editdata/ctrl_frame.cppeditdata/ctrl/lateral_cmd.hppedittest/CMakeLists.txteditalgorithm/ctrl/observer/steering_offset_observer.hppeditconfig/config_imv/ctrl.yamlalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/imv_creep_controller.cppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cppconfig/config_truck/ctrl.yamlnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/config/cfg_safe_const.hppconfig/config_car/ctrl.yamldata/ctrl/observer_debug_data.cppdata/config/cfg_safe_const.cppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppconfig/config_imv/ctrl.yamlnode/process/proc/proc_move_step_controller.cpp11c839d831dd6497cffe9d36fd751756de9b175d1781166426000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 溜车防护取消任务时制动防护 2026-06-11 16:27:06 +080011c839d831dd6497cffe9d36fd751756de9b175dfeat: 溜车防护取消任务时制动防护editalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_status.hppeditnode/process/prepare/prepare_creep.cppeditdata/ctrl/observer_debug_data.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditconfig/config_imv/ctrl.yamleditdata/vehicle/vehicle_status.cppeditalgorithm/ctrl/lon_controller/imv_creep_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditnode/process/prepare/prepare_status.cppeditdata/lon_dynamics_csv_logger.hppeditconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditdata/config/cfg_safe_const.cppeditnode/process/proc/proc_move_step_controller.cppeditdata/ctrl/creep_data.hppeditdata/config/cfg_safe_const.hppeditalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditconfig/config_truck/ctrl.yamleditdata/ctrl_frame.cppnode/process/prepare/prepare_status.cppe82f625b8d5aeef068dcb7d840a6f413ec307c1f1781239521000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix：只在给油门的时候检测溜车 2026-06-12 12:45:21 +0800e82f625b8d5aeef068dcb7d840a6f413ec307c1ffix：只在给油门的时候检测溜车editnode/process/prepare/prepare_status.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppAGENTS.md5bed5c5fd899dc198092199398963c346265518b1781242754000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步辅助时的质量不低于初始质量 2026-06-12 13:39:14 +08005bed5c5fd899dc198092199398963c346265518bfeat: 起步辅助时的质量不低于初始质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditAGENTS.mddata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/lateral_cmd.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/logic.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hpp0e592465f659bdf54420b996936bf8fa72e1d3a51781256848000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加横向控制日志 2026-06-12 17:34:08 +08000e592465f659bdf54420b996936bf8fa72e1d3a5feat: 增加横向控制日志editdata/ctrl/lateral_cmd.hppeditdata/lon_dynamics_csv_logger.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_steering_offset_observer.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditnode/logic.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/prepare/prepare_attr.hppdata/ctrl_frame.cppmath/identification/lateral_kinematics_estimator.hppdata/config/cfg_static.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/ctrl_frame.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppcadd8b326ee803d159997a4b6d79ab1837bbd66a1781512961000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加IMV运动学校验观测 2026-06-15 16:42:41 +0800cadd8b326ee803d159997a4b6d79ab1837bbd66afeat: 增加IMV运动学校验观测editnode/process/prepare/prepare_attr.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/config/cfg_static.cppaddmath/identification/lateral_kinematics_estimator.cppaddmath/identification/lateral_kinematics_estimator.hppeditdata/config/cfg_static.hppeditdata/ctrl_frame.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppdata/config/cfg_dynamic.hppdata/config/cfg_dynamic.cppalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/sc_creep_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppalgorithm/ctrl/lon_controller/imv_move_step_controller.cpp38d157c44b39a645fe0e93a024a5f3ce8342315c1781587838000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 挡位保护 2026-06-16 13:30:38 +080038d157c44b39a645fe0e93a024a5f3ce8342315cfeat: 挡位保护editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_dynamic.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_dynamic.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditalgorithm/ctrl/lon_controller/imv_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/config/cfg_static.hppmath/identification/lateral_kinematics_estimator.hppnode/process/prepare/prepare_attr.cppnode/process/prepare/prepare_attr.hppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppdata/config/cfg_static.cppmath/identification/lateral_kinematics_estimator.cppec6bb5c3c894505e00848aca8f35c611479d0ee41781594968000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 实际运动轴距辨识扩展到truck 2026-06-16 15:29:28 +0800ec6bb5c3c894505e00848aca8f35c611479d0ee4feat: 实际运动轴距辨识扩展到truckeditdata/config/cfg_static.hppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditnode/process/prepare/prepare_attr.cppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditmath/identification/lateral_kinematics_estimator.hppeditnode/process/prepare/prepare_attr.hppeditmath/identification/lateral_kinematics_estimator.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppCLAUDE.mdalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppdata/config/cfg_static.cpp1e0ccd33b7e045107cb050f4848a2cf808472b251781686527000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿 2026-06-17 16:55:27 +08001e0ccd33b7e045107cb050f4848a2cf808472b25feat: 转矩模式下对底盘未考虑变速箱挡位的情况进行补偿editalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/accel_to_pedal_converter.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_static.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.hppeditdata/config/cfg_static.cppeditalgorithm/ctrl/lon_controller/capability/common/motor_curve_drive_physics.cppaddCLAUDE.mdeditalgorithm/ctrl/lon_controller/capability/common/drive_pedal_semantics.cppnode/process/proc/proc_limit.cppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_proc_longctrl.cpp08dc5e0676591ff98c59f3bbca5af6f75ec1c9621781763584000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 过滤小制动 2026-06-18 14:19:44 +080008dc5e0676591ff98c59f3bbca5af6f75ec1c962feat: 过滤小制动editdata/config/cfg_proc_longctrl.hppeditnode/process/proc/proc_limit.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_proc_longctrl.cppdata/config/cfg_proc_longctrl.cppbbd39b07403c1327fde05982facfc3f06fd700461782095081000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 初始参数配置为0 2026-06-22 10:24:41 +0800bbd39b07403c1327fde05982facfc3f06fd70046fix: 初始参数配置为0editdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppcd71a1e0ec24a911d8ccb1e6448fadfb20dc39821782112260000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 停车距离预估的motion less靠控制自己判断 2026-06-22 15:11:00 +0800cd71a1e0ec24a911d8ccb1e6448fadfb20dc3982feat: 停车距离预估的motion less靠控制自己判断editnode/process/prepare/prepare_attr.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppconfig/config_truck/ctrl.yamldata/ctrl/velocity_cmd.hppdata/ctrl/longctrl_data.hppdata/vehicle/vehicle_state.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppconfig/config_car/ctrl.yamldata/vehicle/vehicle_state.hppconfig/config_sc/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppconfig/config_imv/ctrl.yamlalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp51c1e1961b8083fd009ad01e35bd80775343176c1782133102000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑与坡道起步优化 2026-06-22 20:58:22 +080051c1e1961b8083fd009ad01e35bd80775343176cfeat: 起步防滑与坡道起步优化editconfig/config_car/ctrl.yamleditdata/lon_dynamics_csv_logger.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/ctrl/velocity_cmd.hppeditdata/ctrl/velocity_cmd.cppeditdata/ctrl_frame.cppeditdata/vehicle/vehicle_state.cppeditdata/config/cfg_proc_longctrl.hppeditconfig/config_imv/ctrl.yamleditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/ctrl/longctrl_data.cppeditconfig/config_truck/ctrl.yamleditconfig/config_sc/ctrl.yamleditdata/vehicle/vehicle_state.hpptest/accel_to_pedal_converter_test.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp2b92bade6ec7844f7261950678151e70a2cf2d681782357919000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix:根据质量进行制动补偿功能比例定义错误修正 2026-06-25 11:25:19 +08002b92bade6ec7844f7261950678151e70a2cf2d68fix:根据质量进行制动补偿功能比例定义错误修正editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppnode/process/prepare/prepare_attr.cppdata/ctrl/longctrl_data.hppmath/identification/parking_distance_estimator.cppalgorithm/ctrl/lon_controller/longitude_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/ctrl/observer_debug_data.cppdata/vehicle/vehicle_status.hppalgorithm/ctrl/lon_controller/truck_lon_controller.hppmath/identification/parking_distance_estimator.hppdata/vehicle/vehicle_status.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp85b4c0fcbb289743b53409770a2af8a8ef5dd5fb1782436455000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 增加park adjust下对准停车功能 2026-06-26 09:14:15 +080085b4c0fcbb289743b53409770a2af8a8ef5dd5fbfeat: 增加park adjust下对准停车功能editdata/ctrl/longctrl_data.hppeditdata/ctrl/longctrl_data.cppeditmath/identification/parking_distance_estimator.cppeditdata/ctrl/observer_debug_data.cppeditdata/vehicle/vehicle_status.hppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditnode/process/prepare/prepare_attr.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.hppeditdata/vehicle/vehicle_status.cppeditmath/identification/parking_distance_estimator.hppeditdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cpp9bf44e248ab81a727da8630a453a09e17ac405a71782538173000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix : sc 远程步进修复 2026-06-27 13:29:33 +08009bf44e248ab81a727da8630a453a09e17ac405a7fix : sc 远程步进修复editalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/sc_creep_controller.cppnode/main.cppdata/lon_dynamics_csv_logger.cpp569fa54140733fd0691aa63b9cd5da5b5ae678d41782725845000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 控制日志打印版本信息 2026-06-29 17:37:25 +0800569fa54140733fd0691aa63b9cd5da5b5ae678d4feat: 控制日志打印版本信息editalgorithm/ctrl/lon_controller/sc_creep_controller.cppeditnode/main.cppeditdata/lon_dynamics_csv_logger.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cpp010c56f70b6099af54cb24e4a34759409e61df221782738424000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: park adjust停车允许5cm越冲 2026-06-29 21:07:04 +0800010c56f70b6099af54cb24e4a34759409e61df22feat: park adjust停车允许5cm越冲editalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppdata/config/cfg_creep.cppdata/config/cfg_creep.hppa07109ba77c415dad324a12de9671993915fbcfa1782785782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 支持双向步进振箱 2026-06-30 10:16:22 +0800a07109ba77c415dad324a12de9671993915fbcfafeat: 支持双向步进振箱editdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditdata/config/cfg_creep.cppdata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/sink/ros_sink_error_info_ctrl.cppnode/sink/module.cppdata/ctrl/longctrl_data.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppcommon/util/error_code_data.cppAGENTS.mdnode/sink/ros_sink_record_trigger.cppdata/config/cfg_error.cppdata/config/cfg_error.hppc220dba36dfecb775104176ee16bdc362cb4d4b61782824347000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 防滑错误码上传 2026-06-30 20:59:07 +0800c220dba36dfecb775104176ee16bdc362cb4d4b6feat: 防滑错误码上传editdata/ctrl/longctrl_data.hppeditcommon/util/error_code_data.hppeditcommon/util/error_code_data.cppeditdata/config/cfg_proc_longctrl.cppeditdata/config/cfg_error.hppeditAGENTS.mdeditdata/config/cfg_proc_longctrl.hppeditnode/sink/ros_sink_error_info_ctrl.cppeditdata/ctrl/longctrl_data.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditnode/sink/module.cppeditnode/sink/ros_sink_record_trigger.cppeditdata/config/cfg_error.cppdata/config/cfg_proc_longctrl.cppfdc7242fad0f04ee6469f2ac320999bda74e40eb1782868197000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 防滑报警默认关闭 2026-07-01 09:09:57 +0800fdc7242fad0f04ee6469f2ac320999bda74e40ebfix: 防滑报警默认关闭editdata/config/cfg_proc_longctrl.cppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_lon_dynamic_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/velocity_cmd.hppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/ctrl/velocity_cmd.cpp9e3e6b1b2af956dd33bd844206a2d19bce82971b1782958390000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转弯积分补偿 2026-07-02 10:13:10 +08009e3e6b1b2af956dd33bd844206a2d19bce82971bfeat: 转弯积分补偿editdata/ctrl/velocity_cmd.hppeditdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/ctrl/velocity_cmd.cppeditdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/parallel_controller/parallel_controller.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/ctrl/longctrl_data.cppdata/ctrl/longctrl_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cpp097da880b8f2328165b2fd6da04fd3211057bf311782992844000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步防滑不报错问题修复 2026-07-02 19:47:24 +0800097da880b8f2328165b2fd6da04fd3211057bf31fix: 起步防滑不报错问题修复editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/config/cfg_proc_longctrl.hppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppdata/ctrl_frame.cppalgorithm/ctrl/parallel_controller/parallel_controller.cppnode/source/ros_source_remote_cmd.cppdata/vehicle/vehicle_command.cppnode/sink/ros_sink_command.cppdata/vehicle/vehicle_command.hppnode/source/ros_source_parallel_cmd.cppnode/process/proc/proc_move_step_controller.cppf4ae7fb97a4fb8dde5af92f927ab28a2b661278b1782996737000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停的正确清空 2026-07-02 20:52:17 +0800f4ae7fb97a4fb8dde5af92f927ab28a2b661278bfeat: 急停的正确清空editdata/vehicle/vehicle_command.hppeditdata/ctrl_frame.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/source/ros_source_parallel_cmd.cppeditalgorithm/ctrl/parallel_controller/parallel_controller.cppeditdata/vehicle/vehicle_command.cppeditnode/sink/ros_sink_command.cppeditnode/source/ros_source_remote_cmd.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cpp7de79cd8aa28d2bee27f620b762f657dd4973ede1782997091000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 只保留ee的机械急停 2026-07-02 20:58:11 +08007de79cd8aa28d2bee27f620b762f657dd4973edefeat: 只保留ee的机械急停editalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_creep.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppalgorithm/ctrl/lon_controller/truck_creep_common.hppf794cd9d1706cdb27c2446a304d48032c1d8bc321783048306000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 振箱策略更改 2026-07-03 11:11:46 +0800f794cd9d1706cdb27c2446a304d48032c1d8bc32feat: 振箱策略更改editalgorithm/ctrl/lon_controller/truck_creep_common.cppeditdata/config/cfg_creep.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditdata/config/cfg_creep.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.hppedittest/controller_minimal_red_test.cppdata/vehicle/trailer_posture.cppdata/config/cfg_static.hppdata/config/cfg_static.cpp910a649914dc3515f51b8a11050ac9c0ecc539531783319489000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_compensation 2026-07-06 14:31:29 +0800910a649914dc3515f51b8a11050ac9c0ecc53953fix: add trailer_angle_compensationeditdata/config/cfg_static.hppeditdata/vehicle/trailer_posture.cppeditdata/config/cfg_static.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_creep_controller.cppalgorithm/ctrl/lon_controller/truck_creep_common.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hpp14371a5b3b57af39f79810d2b036549968786ea71783330071000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 步进模式下传给mpc的参考速度序列修正 2026-07-06 17:27:51 +080014371a5b3b57af39f79810d2b036549968786ea7feat: 步进模式下传给mpc的参考速度序列修正editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_controller.cppeditnode/process/proc/proc_move_step_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppdata/vehicle/trailer_posture.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/prepare/prepare_traj.cppb0f8d76bff9bbb19bbeb318422d46e9553383add1783340694000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle compensation 2026-07-06 20:24:54 +0800b0f8d76bff9bbb19bbeb318422d46e9553383addfix: trailer angle compensationeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/vehicle/trailer_posture.cppeditnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cpp1scripts/trailer_angle_compensation_identify.pyconfig/config_car/ctrl.yamlconfig/config_sc/ctrl.yamldata/config/cfg_mpc_qp.hppalgorithm/util/steer_latency_estimator.cppdata/config/cfg_mpc_qp.cppconfig/config_imv/ctrl.yamltest/steer_latency_estimator_test.cpptest/CMakeLists.txtalgorithm/util/steer_latency_estimator.hpp98fbc0e229dee40569f7e2c77db56dfd81cdcda71783488779000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfeat: steering latency compensation for reversing truck controller 2026-07-08 13:32:59 +080098fbc0e229dee40569f7e2c77db56dfd81cdcda7feat: steering latency compensation for reversing truck controllereditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppadd1editconfig/config_sc/ctrl.yamleditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_mpc_qp.hppeditdata/config/cfg_mpc_qp.cppaddalgorithm/util/steer_latency_estimator.cppedittest/CMakeLists.txteditconfig/config_imv/ctrl.yamleditnode/process/proc/proc_lateral_controller.hppaddtest/steer_latency_estimator_test.cppeditnode/process/proc/proc_lateral_controller.cppaddalgorithm/util/steer_latency_estimator.hppaddscripts/trailer_angle_compensation_identify.pyeditconfig/config_car/ctrl.yamlconfig/config_truck/ctrl.yamlscripts/steering_delay_identify.py1fd102d3c5df605c12e2ebe750772a7150a2587b1783488836000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering delay identification 2026-07-08 13:33:56 +08001fd102d3c5df605c12e2ebe750772a7150a2587bfix: steering delay identificationaddscripts/steering_delay_identify.pyeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe1c54ece7cb7be8b767adb7b4bac62507bd864041783516837000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: record debug data 2026-07-08 21:20:37 +0800e1c54ece7cb7be8b767adb7b4bac62507bd86404fix: record debug dataeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppaddscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.sh.gitignorealgorithm/ctrl/lat_controller/reversing_truck_mpc.cppe4bcbd5e760d22d3f3b3be39e10a19c387b4a7ea1783574062000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: steering latency compensation optimizaiton 2026-07-09 13:14:22 +0800e4bcbd5e760d22d3f3b3be39e10a19c387b4a7eafix: steering latency compensation optimizaitoneditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppedit.gitignoreeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.hppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/truck_augment_mpc.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/ctrl_frame.cppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp95b44b0683cde2c206bcb623b935c1b543df6eb21783671593000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性 2026-07-10 16:19:53 +080095b44b0683cde2c206bcb623b935c1b543df6eb2feat：起步积分与弯道积分合并增加横向日志观测值便于AI分析横向动力特性editalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/ctrl/lateral_ctrl_debug_data.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.cppeditdata/ctrl/lateral_ctrl_debug_data.cppeditalgorithm/ctrl/lat_controller/truck_augment_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lat_controller/tractor_dynamic_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppadddata/ctrl/lat_mpc_debug_snapshot.hpptest/accel_to_pedal_converter_test.cppdata/config/cfg_static.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/config/cfg_static.cpp5c056ad3aea23ce67a66cdbbb4d49d33049a6f251783675937000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 将减速度标定质量独立 2026-07-10 17:32:17 +08005c056ad3aea23ce67a66cdbbb4d49d33049a6f25feat: 将减速度标定质量独立editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppedittest/accel_to_pedal_converter_test.cppeditdata/config/cfg_static.hppeditdata/config/cfg_static.cppdata/config/cfg_mpc_qp.cppdata/config/cfg_mpc_qp.hppdata/vehicle/trailer_state.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppa66e556979e757a3ae74f9e4ebce30211c574d791783948207000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer angle bug 2026-07-13 21:10:07 +0800a66e556979e757a3ae74f9e4ebce30211c574d79fix: trailer angle bugeditdata/config/cfg_mpc_qp.hppeditdata/vehicle/trailer_state.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_creep.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/sink/ros_sink_command.hppalgorithm/ctrl/lon_controller/sc_rotation_controller.cppdata/ctrl_frame.cppdata/plan/plan_data.cppnode/process/proc/proc_move_step_controller.hpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/sc_rotation_controller.hppnode/sink/ros_sink_command.cppnode/process/prepare/prepare_creep.hppnode/process/prepare/prepare_creep.cppdata/plan/plan_data.hppnode/process/proc/proc_move_step_controller.cpp6534e8a1ade78a27cf7afb8b4fbd4eb26b84436c1784007272000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型新增横向平移和自转功能 2026-07-14 13:34:32 +08006534e8a1ade78a27cf7afb8b4fbd4eb26b84436cfeat: SC车型新增横向平移和自转功能editalgorithm/ctrl/lat_controller/augment_mpc.cppeditnode/process/prepare/prepare_creep.hppeditdata/config/cfg_creep.cppeditnode/sink/ros_sink_command.hppeditdata/plan/plan_data.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditnode/process/proc/proc_move_step_controller.hppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.cppeditdata/ctrl_frame.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppaddalgorithm/ctrl/lon_controller/sc_rotation_controller.hppeditnode/process/prepare/prepare_creep.cppeditdata/plan/plan_data.cppeditdata/config/cfg_creep.hppedittest/controller_minimal_red_test.cppeditnode/process/proc/proc_move_step_controller.cppeditnode/sink/ros_sink_command.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cpp9df154e555b5f6b7456e440e199744897a7696c51784013710000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 起步阶段不再强制变更使用质量 2026-07-14 15:21:50 +08009df154e555b5f6b7456e440e199744897a7696c5fix: 起步阶段不再强制变更使用质量editalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppdata/vehicle/trailer_state.hppscripts/trailer_wheelbase_raw_fit.pydata/vehicle/trailer_state.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppalgorithm/ctrl/observer/trailer_angle_observer.cppscripts/record_reversing_tuning.shalgorithm/ctrl/observer/trailer_angle_observer.hppnode/logic.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/observer/trailer_angle_estimator.hppscripts/trailer_angle_estimator_offline_test.pydata/config/cfg_estimator.cppalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdata/config/cfg_mpc_qp.cppnode/process/prepare/prepare_state.cppnode/process/prepare/prepare_state.hppscripts/trailer_wheelbase_estimate.pyalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppdata/config/cfg_estimator.hpp6f7098be72e39fcdda229bc787df356c6ce0805c1784016412000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer_angle_replay_ekf 2026-07-14 16:06:52 +08006f7098be72e39fcdda229bc787df356c6ce0805cfix: add trailer_angle_replay_ekfaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.hppeditnode/logic.cppeditdata/config/cfg_mpc_qp.hppaddscripts/trailer_angle_estimator_offline_test.pyadddata/config/cfg_estimator.cppaddalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditdata/vehicle/trailer_state.cppaddalgorithm/ctrl/observer/trailer_angle_smith_predictor.cppdeletealgorithm/ctrl/observer/trailer_angle_observer.hppeditnode/process/prepare/prepare_state.hppeditdata/config/cfg_mpc_qp.cppaddscripts/trailer_wheelbase_estimate.pyadddata/config/cfg_estimator.hppaddalgorithm/ctrl/observer/trailer_angle_estimator.hppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/trailer_state.hppeditscripts/record_reversing_tuning.shdeletealgorithm/ctrl/observer/trailer_angle_observer.cppaddscripts/trailer_wheelbase_raw_fit.pynode/sink/ros_sink_command.cpp6801a2c3848d1ec3572cf601552ed6b7244a160a1784017052000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 底盘为空时认为静止 2026-07-14 16:17:32 +08006801a2c3848d1ec3572cf601552ed6b7244a160afeat: 底盘为空时认为静止editnode/sink/ros_sink_command.cppnode/sink/ros_sink_command.cpp124326ae01e4d4b7d2d767f65df25cd2e5235cae1784017622000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: SC模式切换保护 2026-07-14 16:27:02 +0800124326ae01e4d4b7d2d767f65df25cd2e5235caefix: SC模式切换保护editnode/sink/ros_sink_command.cppnode/process/proc/proc_move_step_controller.cppd3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d11784021485000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC横移模式指令值更改 2026-07-14 17:31:25 +0800d3bcb02fbcb3e925f40f2b0999b2dbd3cd90f4d1feat: SC横移模式指令值更改editnode/process/proc/proc_move_step_controller.cppdata/vehicle/trailer_state.hppdata/ctrl/longctrl_data.hppalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppnode/process/proc/proc_longitude_controller.hppscripts/reversing_tuning_2026-07-14-17-36-37_0.bagscripts/steer_rate_identify.pyalgorithm/ctrl/lon_controller/reversing_speed_governor.hppalgorithm/ctrl/lon_controller/reversing_speed_governor.cppscripts/record_reversing_tuning.shalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppalgorithm/ctrl/observer/trailer_angle_estimator.hppnode/process/proc/proc_longtiude_controller.cppdata/config/cfg_estimator.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_estimator.hppa53c2f1059876cc5d0474ce4cfecd902333bb61a1784023043000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add speed governor 2026-07-14 17:57:23 +0800a53c2f1059876cc5d0474ce4cfecd902333bb61afix: add speed governoreditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/vehicle/trailer_state.hppaddscripts/steer_rate_identify.pyaddscripts/reversing_tuning_2026-07-14-17-36-37_0.bageditalgorithm/ctrl/observer/trailer_angle_estimator.hppeditalgorithm/ctrl/lon_controller/truck_tracking_common_logic.cppeditnode/process/proc/proc_longitude_controller.hppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.cppeditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/observer/trailer_angle_replay_ekf.cppeditnode/process/prepare/prepare_state.cppaddalgorithm/ctrl/lon_controller/reversing_speed_governor.hppeditscripts/record_reversing_tuning.sheditdata/ctrl/longctrl_data.hppeditdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamla1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25e1784023651000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-14 18:07:31 +0800a1c2c68d512aa86e3fcc3b3ac8e9c51b6f15c25efix: update configeditconfig/config_truck/ctrl.yamlscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.py2819dab08ee479e0201d1aed1680aa2be9246c651784083113000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: auto recording script 2026-07-15 10:38:33 +08002819dab08ee479e0201d1aed1680aa2be9246c65fix: auto recording scripteditscripts/record_reversing_tuning.shaddscripts/record_reversing_tuning_auto.pyscripts/reversing_tuning_2026-07-14-17-36-37_0.bag.gitignore4038141f709b3b3e83e0bfb66db5e9cd9cb16a701784083171000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: ignore bag files 2026-07-15 10:39:31 +08004038141f709b3b3e83e0bfb66db5e9cd9cb16a70fix: ignore bag filesedit.gitignoredeletescripts/reversing_tuning_2026-07-14-17-36-37_0.bagalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppscripts/record_reversing_tuning_auto.py.gitignoreb1beaecb1ca219abbf2c89ef822d64e094ce92711784172505000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: wire steer into mpc_solver 2026-07-16 11:28:25 +0800b1beaecb1ca219abbf2c89ef822d64e094ce9271fix: wire steer into mpc_solvereditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditscripts/record_reversing_tuning_auto.pyedit.gitignoredata/ctrl/longctrl_data.cppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppnode/process/proc/proc_lateral_controller.hppdata/ctrl/longctrl_data.hppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_lon_dynamic_mpc.hppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppcommon/util/error_code_data.hppdata/config/cfg_lon_dynamic_mpc.cppcommon/util/error_code_data.cppdata/config/cfg_error.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_error.hpp99aa91653de1a39900d7dbd1575428d8f1c6ac151784195668000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启 2026-07-16 17:54:28 +080099aa91653de1a39900d7dbd1575428d8f1c6ac15feat: 起步防滑优化对准起步辅助优化横向零偏故障码常态化开启editdata/ctrl/longctrl_data.cppeditcommon/util/error_code_data.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/ctrl/longctrl_data.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/config/cfg_lon_dynamic_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditcommon/util/error_code_data.hppeditdata/config/cfg_proc_longctrl.hppeditdata/config/cfg_error.hppeditdata/config/cfg_error.cppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppnode/process/prepare/prepare_traj.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hppa65074757d10b414c4eaf171bd3a567e71f302ed1784338229000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add trailer angle comp calibrator 2026-07-18 09:30:29 +0800a65074757d10b414c4eaf171bd3a567e71f302edfix: add trailer angle comp calibratoreditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditnode/process/proc/proc_lateral_controller.cppeditnode/logic.cppeditdata/config/cfg_estimator.hppeditdata/config/cfg_steering_offset_observer.hppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditdata/config/cfg_steering_offset_observer.cppeditnode/process/prepare/prepare_traj.cppaddalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppscripts/record_reversing_tuning.shscripts/record_reversing_tuning_auto.pyalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppf2cf046433f383df82ac73ef7465882b5e4af3d01784339449000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update debug message 2026-07-18 09:50:49 +0800f2cf046433f383df82ac73ef7465882b5e4af3d0fix: update debug messageeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppeditnode/process/proc/proc_lateral_controller.cppeditscripts/record_reversing_tuning.sheditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditscripts/record_reversing_tuning_auto.pyeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppdata/config/cfg_estimator.cppdata/config/cfg_steering_offset_observer.cppdata/config/cfg_estimator.hppbf75a5f41e149319bc0641c71022dce6c3e1d2611784339959000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: update config 2026-07-18 09:59:19 +0800bf75a5f41e149319bc0641c71022dce6c3e1d261fix: update configeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_steering_offset_observer.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_estimator.hppd8346a561beab1e16bcdc7db5de1dfb0052cebea1784344703000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: calib bug 2026-07-18 11:18:23 +0800d8346a561beab1e16bcdc7db5de1dfb0052cebeafix: calib bugeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp39ab21eb0b2f80f2bac76ec8bbfa9dc08b5175761784515280000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix: update params 2026-07-20 10:41:20 +080039ab21eb0b2f80f2bac76ec8bbfa9dc08b517576fix: update paramseditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppdata/config/cfg_estimator.cppconfig/config_truck/ctrl.yamldata/config/cfg_estimator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cpp90e42e33b20e28f38ff59ed51e0712967612a0481784612123000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: add startup_blank_s 2026-07-21 13:35:23 +080090e42e33b20e28f38ff59ed51e0712967612a048fix: add startup_blank_seditdata/config/cfg_estimator.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_estimator.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_estimator.hpp390447bdd6b2984c81967581a0ddb28675f016501784615532000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: trailer_angle_comp opt 2026-07-21 14:32:12 +0800390447bdd6b2984c81967581a0ddb28675f01650fix: trailer_angle_comp opteditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppeditdata/config/cfg_estimator.hppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppdata/config/cfg_static.hppdata/config/cfg_steering_offset_observer.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/config/cfg_steering_offset_observer.hppalgorithm/ctrl/observer/steering_offset_observer.hppdata/config/cfg_static.cppbcdaee342f0b1da318246caad3a3071ee85582d51784685990000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向补偿超限报警单边停车质量补偿 2026-07-22 10:06:30 +0800bcdaee342f0b1da318246caad3a3071ee85582d5feat: 转向补偿超限报警单边停车质量补偿editdata/config/cfg_static.hppeditdata/config/cfg_steering_offset_observer.hppeditdata/config/cfg_steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/physics_based_pedal_model.cppeditnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditdata/config/cfg_static.cppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/imv_lon_controller.hppdata/config/cfg_proc_longctrl.hppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/config/cfg_proc_longctrl.cpp3f82d685beabf540889d45c6432c56a7a34ac4741784806231000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型 2026-07-23 19:30:31 +08003f82d685beabf540889d45c6432c56a7a34ac474feat：提前停车功能考虑多段路径扩充到openspace场景扩充到SC车型editalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.hppeditdata/config/cfg_proc_longctrl.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/config/cfg_proc_longctrl.hppdata/ctrl_frame.cppdata/lon_dynamics_csv_logger.hppdata/config/cfg_creep.hppdata/lon_dynamics_csv_logger.cpptest/controller_minimal_red_test.cppdata/config/cfg_creep.cppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppnode/process/prepare/prepare_creep.cppe4873c663b5762670fea9c8d87cc795fa7fd93e71784972051000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车型运动方向固定增加每个轮子角度的观测 2026-07-25 17:34:11 +0800e4873c663b5762670fea9c8d87cc795fa7fd93e7feat: SC车型运动方向固定增加每个轮子角度的观测editdata/lon_dynamics_csv_logger.hppeditdata/config/cfg_creep.cppeditnode/process/prepare/prepare_creep.cppeditdata/config/cfg_creep.hppeditdata/lon_dynamics_csv_logger.cppedittest/controller_minimal_red_test.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/ctrl_frame.cppdata/ctrl_frame.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/lon_dynamics_csv_logger.hppdata/ctrl/observer_debug_data.cppdata/ctrl/longctrl_data.cppdata/lon_dynamics_csv_logger.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppdata/ctrl/longctrl_data.hppd8fdaa567faea3dfe934bea7a08d5a46d33a12b31785217795000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 提前停车功能反向前进处理 2026-07-28 13:49:55 +0800d8fdaa567faea3dfe934bea7a08d5a46d33a12b3fix: 提前停车功能反向前进处理editdata/ctrl/observer_debug_data.cppeditdata/ctrl/longctrl_data.cppeditdata/ctrl/longctrl_data.hppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl_frame.cppdata/ctrl_frame.cpp5181def0cc248e6394d1271fcded403de4dbb96d1785289377000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: emergency_brake的正确记录 2026-07-29 09:42:57 +08005181def0cc248e6394d1271fcded403de4dbb96dfix: emergency_brake的正确记录editdata/ctrl_frame.cppnode/process/proc/proc_assist.cpp5859981114a107f794b7e84e7b53a5b824f5c2ff1785308460000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 优化转向灯逻辑 2026-07-29 15:01:00 +08005859981114a107f794b7e84e7b53a5b824f5c2fffeat: 优化转向灯逻辑editnode/process/proc/proc_assist.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppdata/lon_dynamics_csv_logger.cppdata/vehicle/vehicle_state.cppdata/config/cfg_lon_dynamic_mpc.hppalgorithm/ctrl/lon_controller/sc_move_step_controller.cppdata/ctrl_frame.cppdata/vehicle/vehicle_state.hppdata/config/cfg_lon_dynamic_mpc.cpptest/controller_minimal_red_test.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppdata/ctrl/longitude_ctrl_debug_data.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpptest/CMakeLists.txt619b0f25fbc0f815443400660b3313cdd14d368c1785397047000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强 2026-07-30 15:37:27 +0800619b0f25fbc0f815443400660b3313cdd14d368cfeat: SC车步进方向调整纵向MPC制动保护增加积分项横向运动日志记录增强editdata/config/cfg_lon_dynamic_mpc.hppeditdata/ctrl/longitude_ctrl_debug_data.hppeditdata/ctrl_frame.cppeditdata/config/cfg_lon_dynamic_mpc.cppedittest/CMakeLists.txtdeletetest/controller_minimal_red_test.cppeditdata/lon_dynamics_csv_logger.hppeditalgorithm/ctrl/lon_controller/capability/accel_to_pedal/follow_pedal_post_processor.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditdata/lon_dynamics_csv_logger.cppeditdata/vehicle/vehicle_state.cppeditalgorithm/ctrl/lon_controller/sc_move_step_controller.cppeditdata/vehicle/vehicle_state.hppnode/process/prepare/prepare_creep.cpp24f3f0756fa9f0c093f04752ff2b0456a4c95bcb1785411997000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SC步进横移bug 2026-07-30 19:46:37 +080024f3f0756fa9f0c093f04752ff2b0456a4c95bcbfeat: SC步进横移bugeditnode/process/prepare/prepare_creep.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppc5d564ce2688fadaff079def5859974d0d954c3b1785468117000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: estop函数积分保护失效的bug 2026-07-31 11:21:57 +0800c5d564ce2688fadaff079def5859974d0d954c3bfeat: estop函数积分保护失效的bugeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hpp1927a9895e4c32ed5edea82fc5636c8730b16f511785476200000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 急停使用的FollowCtrlDcc函数积分优化 2026-07-31 13:36:40 +08001927a9895e4c32ed5edea82fc5636c8730b16f51feat: 急停使用的FollowCtrlDcc函数积分优化editalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/lat_controller/augment_mpc.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppdata/config/cfg_mpc_qp.hppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp4c5520c159f2ea3df98b7242f288174f685987181785481228000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: truck 横向变步长mpc 2026-07-31 15:00:28 +08004c5520c159f2ea3df98b7242f288174f68598718feat: truck 横向变步长mpceditalgorithm/ctrl/lat_controller/augment_mpc.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.hppdeletealgorithm/ctrl/lat_controller/qp_solver/lon_mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppeditnode/process/proc/proc_lateral_controller.cppeditdata/config/cfg_mpc_qp.cppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditnode/process/proc/proc_lateral_controller.hppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppaddalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppnode/process/prepare/prepare_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppb7cd2cf88402037855d918a02115962b9ee439921785760215000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:30:15 +0800b7cd2cf88402037855d918a02115962b9ee43992feat: IMV零偏补偿航向学习错误editnode/process/prepare/prepare_state.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditdata/vehicle/vehicle_state.cppeditnode/process/proc/proc_lateral_controller.hppeditdata/vehicle/vehicle_state.hppdata/vehicle/vehicle_state.hppnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/steering_offset_observer.cppnode/process/proc/proc_lateral_controller.cppdata/vehicle/vehicle_state.cppalgorithm/ctrl/observer/steering_offset_observer.hppnode/process/prepare/prepare_state.cpp58ba4a4224fe5043c2dca006e034a204a61de5451785760857000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: IMV零偏补偿航向学习错误 2026-08-03 20:40:57 +080058ba4a4224fe5043c2dca006e034a204a61de545feat: IMV零偏补偿航向学习错误editnode/process/proc/proc_lateral_controller.hppeditalgorithm/ctrl/observer/steering_offset_observer.hppeditalgorithm/ctrl/observer/steering_offset_observer.cppeditnode/process/prepare/prepare_state.cppeditdata/vehicle/vehicle_state.hppeditnode/process/proc/proc_lateral_controller.cppeditdata/vehicle/vehicle_state.cppalgorithm/ctrl/lat_controller/rotation_control_logic.hppalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txttest/augment_mpc_rotation_control_test.cpptest/rotation_control_logic_test.cpp2737676a5ed99a956b9c351ccb97d3d9dea13a851785902613000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: reject inconsistent rotation direction 2026-08-05 12:03:33 +08002737676a5ed99a956b9c351ccb97d3d9dea13a85fix: reject inconsistent rotation directionaddtest/augment_mpc_rotation_control_test.cppaddtest/rotation_control_logic_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/rotation_control_logic.hppedittest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.cpptest/CMakeLists.txtalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20b1785982611000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix(control): guard MPC during rotation command dropout 2026-08-06 10:16:51 +0800ae7a1ebfe29946c5d95a9cf3ca7e97a10c5ec20bfix(control): guard MPC during rotation command dropouteditalgorithm/ctrl/lat_controller/augment_mpc.cppedittest/augment_mpc_rotation_control_test.cppedittest/CMakeLists.txteditalgorithm/ctrl/lat_controller/augment_mpc.hppalgorithm/ctrl/lat_controller/augment_mpc.hpptest/augment_mpc_rotation_control_test.cppalgorithm/ctrl/lat_controller/augment_mpc.cppb72d6f747d9460cb2b0df84cb9533733a9252bef1785982857000http://159.27.114.184:8080/jenkins/user/5081703.cr5081703.cr5081703.cr@163.comfix(control): guard MPC during rotation command dropout 2026-08-06 10:20:57 +0800b72d6f747d9460cb2b0df84cb9533733a9252beffix(control): guard MPC during rotation command dropoutedittest/augment_mpc_rotation_control_test.cppeditalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/augment_mpc.hppdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.hpp3b449fb05c5b7d21836620ae9116992425f70f421786020525000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 转向积分补偿释放参数配置化 2026-08-06 20:48:45 +08003b449fb05c5b7d21836620ae9116992425f70f42feat: 转向积分补偿释放参数配置化editdata/config/cfg_lon_dynamic_mpc.hppeditdata/config/cfg_lon_dynamic_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/augment_mpc.cppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hpp6930425329e70d8e2226634e5cf85c296d5893401786069499000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 变时域横向控制器优化调整 2026-08-07 10:24:59 +08006930425329e70d8e2226634e5cf85c296d589340feat: 变时域横向控制器优化调整editalgorithm/ctrl/lat_controller/augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.hppeditdata/config/cfg_mpc_qp.hppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_data.cppdata/ctrl_frame.cppalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppdata/lon_dynamics_csv_logger.hppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppdata/lon_dynamics_csv_logger.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/ctrl/lateral_ctrl_debug_data.hppalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppdata/ctrl/lateral_ctrl_debug_data.cpp2c14365ecd44d0b0756caf9a4d8271e2bf8ed6611786414761000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat：纵向控制器记录消耗时间 2026-08-11 10:19:21 +08002c14365ecd44d0b0756caf9a4d8271e2bf8ed661feat：纵向控制器记录消耗时间editdata/ctrl/lateral_ctrl_debug_data.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_new_augment_mpc.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.cppeditalgorithm/ctrl/lat_controller/imv_new_augment_mpc.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/lateral_ctrl_debug_data.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppcommon/util/thr_helper.hppalgorithm/ctrl/lat_controller/augment_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppnode/process/proc/proc_lateral_controller.hppdata/config/cfg_mpc_qp.hppnode/process/proc/proc_lateral_controller.cppdata/ctrl/lat_mpc_debug_snapshot.hppdata/config/cfg_mpc_qp.cppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppc99e7023c1f54da56525a681048b294e33bef2be1786448954000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat:IMV 横向控制增加考虑延迟的控制器 2026-08-11 19:49:14 +0800c99e7023c1f54da56525a681048b294e33bef2befeat:IMV 横向控制增加考虑延迟的控制器addalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.hppeditdata/ctrl/lat_mpc_debug_snapshot.hppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditdata/config/cfg_mpc_qp.hppeditcommon/util/thr_helper.hppeditalgorithm/ctrl/lat_controller/augment_mpc.cppaddalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_solver.cppeditdata/config/cfg_mpc_qp.cppeditnode/process/proc/proc_lateral_controller.cppeditnode/process/proc/proc_lateral_controller.hppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hpp0cd819d881a85d8a750b32b2f01480a115a5805a1786620301000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分 2026-08-13 19:25:01 +08000cd819d881a85d8a750b32b2f01480a115a5805afeat: 纵向控制使用的加速度源从定位直接使用切换为根据速度微分editdata/vehicle/vehicle_state.hppeditdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.cppdata/vehicle/vehicle_state.hppd6788726061ce59bd35ba72b1e55b795538289a51786623202000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 加速度计算不考虑定位标志位 2026-08-13 20:13:22 +0800d6788726061ce59bd35ba72b1e55b795538289a5feat: 加速度计算不考虑定位标志位editdata/vehicle/vehicle_state.cppeditdata/vehicle/vehicle_state.hppalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppalgorithm/ctrl/lon_controller/imv_lon_controller.cppalgorithm/ctrl/lon_controller/longitude_controller.hppalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hpp156250a2e7ada9a321c7cd15a992d98bae5850d71787052778000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车 2026-08-18 19:32:58 +0800156250a2e7ada9a321c7cd15a992d98bae5850d7feat: 横向mpc对于求解超时容忍增加；报横向无解时用缓刹强度停车editalgorithm/ctrl/lat_controller/imv_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.cppeditalgorithm/ctrl/lat_controller/truck_kinematic_variable_horizon_mpc.cppeditalgorithm/ctrl/lon_controller/truck_lon_controller.cppeditalgorithm/ctrl/lon_controller/longitude_controller.hppeditalgorithm/ctrl/lon_controller/imv_lon_controller.cppeditalgorithm/ctrl/lat_controller/qp_solver/mpc_persistent_solver.hppeditalgorithm/ctrl/lon_controller/longitude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cpp8afc7758e9023e25873624546b763cb4a15e5c791787055114000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: SafePreprocess 优化 2026-08-18 20:11:54 +08008afc7758e9023e25873624546b763cb4a15e5c79feat: SafePreprocess 优化editalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/lon_dynamics_csv_logger.hppdata/lon_dynamics_csv_logger.cppdata/ctrl/creep_data.hppnode/process/proc/proc_longitude_controller.hppdata/ctrl_frame.cppAGENTS.mdalgorithm/ctrl/lon_controller/truck_creep_common.cppnode/process/proc/proc_longtiude_controller.cppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppalgorithm/ctrl/lon_controller/truck_creep_common.hppnode/process/proc/proc_move_step_controller.cppalgorithm/ctrl/lon_controller/truck_move_step_controller.hppec73467c27dccefb955c3a74b30f306c9c2a06f31787629522000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 对准和刹车时的减速度积分防护 2026-08-25 11:45:22 +0800ec73467c27dccefb955c3a74b30f306c9c2a06f3feat: 对准和刹车时的减速度积分防护editalgorithm/ctrl/lon_controller/truck_creep_common.hppeditnode/process/proc/proc_move_step_controller.cppeditAGENTS.mdeditdata/lon_dynamics_csv_logger.cppeditdata/ctrl_frame.cppeditdata/lon_dynamics_csv_logger.hppeditdata/ctrl/creep_data.hppeditalgorithm/ctrl/lon_controller/truck_move_step_controller.hppeditnode/process/proc/proc_longitude_controller.hppeditnode/process/proc/proc_longtiude_controller.cppeditalgorithm/ctrl/lon_controller/truck_creep_common.cppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.hppeditalgorithm/ctrl/lon_controller/truck_lon_dynamic_augment_mpc.cppdata/config/cfg_lon_dynamic_mpc.cppc24e325c3ae5fa341e83b7105923424ec06449181787731216000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 转向补偿默认关闭 2026-08-26 16:00:16 +0800c24e325c3ae5fa341e83b7105923424ec0644918fix: 转向补偿默认关闭editdata/config/cfg_lon_dynamic_mpc.cppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppconfig/config_truck/ctrl.yamlnode/process/proc/proc_lateral_controller.hppalgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppdata/config/cfg_log.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppdata/config/cfg_static.hppalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/logic.cppdata/config/cfg_estimator.cppdata/config/cfg_log.hpptest/CMakeLists.txtdata/config/cfg_estimator.hppb2ad339b4232655d14c328cc123a059f03de80f81787823334000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofeat: add forward trailer bias estimator v2 2026-08-27 17:35:34 +0800b2ad339b4232655d14c328cc123a059f03de80f8feat: add forward trailer bias estimator v2edittest/CMakeLists.txteditconfig/config_truck/ctrl.yamleditdata/config/cfg_log.cppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.cppeditdata/config/cfg_log.hppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.cppeditnode/process/proc/proc_lateral_controller.cppaddtest/forward_trailer_bias_estimator_test.cppdeletealgorithm/ctrl/observer/trailer_angle_comp_calibrator.hppeditnode/process/proc/proc_lateral_controller.hppeditdata/config/cfg_estimator.hppeditdata/config/cfg_estimator.cppeditdata/config/cfg_static.hppeditnode/logic.cppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditalgorithm/ctrl/lat_controller/reversing_truck_mpc.hppaddalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppconfig/config_truck/ctrl.yamlalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppnode/process/proc/proc_lateral_controller.cpptest/forward_trailer_bias_estimator_test.cppdata/config/cfg_estimator.cppdata/config/cfg_estimator.hpp5f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf991788255862000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autorefactor(control): simplify trailer bias validation 2026-09-01 17:44:22 +08005f275d9310aaf9b8c58caddd7bcb9fa1fb3ddf99refactor(control): simplify trailer bias validationeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.cppeditdata/config/cfg_estimator.hppeditconfig/config_truck/ctrl.yamleditdata/config/cfg_estimator.cppedittest/forward_trailer_bias_estimator_test.cppeditalgorithm/ctrl/observer/forward_trailer_bias_estimator.hppeditnode/process/proc/proc_lateral_controller.cppalgorithm/ctrl/lon_controller/truck_lon_controller.cppdata/config/cfg_proc_longctrl.hppdata/config/cfg_proc_longctrl.cppnode/process/prepare/prepare_attr.cppad844f7e4b7fa0fb6f7848a0b6739a20c847ebfc1788436361000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 堆高机和步进提前停车 2026-09-03 19:52:41 +0800ad844f7e4b7fa0fb6f7848a0b6739a20c847ebfcfeat: 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