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Changes

Summary

  1. feat: 新增障碍物置信度评分 行人靠近报警 (details)
  2. feat: 预警时间间隔参数化 (details)
  3. feat: 合并冲突 (details)
  4. feat: 新增障碍物置信度评分 行人靠近报警 (details)
  5. feat: 预警时间间隔参数化 (details)
  6. feat: 合并冲突 (details)
  7. feat: DeadLock新的停止点在1m以内车辆不启动 (details)
  8. fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 (details)
  9. fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留 (details)
  10. perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效 (details)
  11. fix: 远程单次直线步进END后不退出循环重回MOVE (details)
  12. fix: park子状态机收普通任务卡死PARK_MOVE无法退出 (details)
  13. fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级 (details)
  14. fix: Path/DiscretizedPath 空与单点场景既有隐患修复 (details)
  15. fix: 速度置信度的引入收敛到只影响行人靠近预警功能 (details)
  16. fix: 格式漂移更改  配置参数更改 (details)
  17. fix: revering in straight line (details)
  18. fix: is_in_straight_lane = false during park state (details)
Commit dd3ac6978e9051b56ed9ac071022ddb138f543b5 by liuhongshuo
feat: 新增障碍物置信度评分 行人靠近报警
The file was modifiedtasks/deciders/other_decider/alarm_decider.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifieddata/obstacle/perception_obstacle.hpp
The file was modifiedscenarios/stage.cpp
The file was modifieddata/config/cfg_region.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_region.cpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifiedtasks/deciders/other_decider/alarm_decider.cpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/obstacle/obstacle.cpp
Commit ae82cd70389db148891fd4f0f8354dae82623fb4 by liuhongshuo
feat: 预警时间间隔参数化
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit 02eef33286fd2c1fd15c3630295167bbdca79308 by liuhongshuo
feat: 合并冲突
The file was modifieddata/config/cfg_region.cpp
Commit 067a789e161bce5878bb983eebdd5bad63d66765 by wuyanjun110
feat: 新增障碍物置信度评分 行人靠近报警
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/obstacle/perception_obstacle.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifiedplan/prepare/prepare_objs.cpp
The file was modifiedtasks/deciders/other_decider/alarm_decider.hpp
The file was modifiedCMakeLists.txt
The file was modifieddata/config/cfg_region.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.hpp
The file was modifiedtasks/deciders/other_decider/alarm_decider.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/config/cfg_region.cpp
The file was modifiedscenarios/stage.cpp
The file was modifieddata/config/cfg_func_sw.cpp
Commit aefad2d72b50d177f73b39b6f3f88b95699e6be7 by wuyanjun110
feat: 预警时间间隔参数化
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
Commit f694b82452efc96843fefb947d35b12040e75007 by wuyanjun110
feat: 合并冲突
The file was modifieddata/config/cfg_region.cpp
Commit f17dd3022e07cf16f5602cd595b4e53c639163b3 by liuhongshuo
feat: DeadLock新的停止点在1m以内车辆不启动
The file was modifieddata/app/cmd/cmd_dead_lock.cpp
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
The file was modifieddata/app/cmd/cmd_dead_lock_force_park.cpp
Commit f1f7bca7f335e3bb4f3e97eb16477ece7ac41509 by liuhongshuo
fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态
The file was modifiedtasks/deciders/long_decider/constrain_decider.cpp
Commit cf9bf06e62975a44420683b8d68b1a1c38d24ebb by wuyanjun110
fix: 恢复union region异步计算, latch结果消费即释放治理内存驻留

- CreateUnionRegion恢复std::async异步, polygons改move捕获少一份拷贝
- latch结果消费一次即move取走并shrink_to_fit释放, 不再常驻AsyncUnionRegionState
- 重建路径不再预清union_region_/重建async_state, 异步未就绪时沿用上一帧轮廓
The file was modifieddata/map/envelop/map_envelops.cpp
Commit 49da4fba25e8910c876f430f1f1b28a8e67e0f63 by wuyanjun110
perf: 回放同帧降频节流, 暂停/停在末帧时避免循环满频重复计算, 改参数仍0.5s内重算生效
The file was modifiedreplayer/logic.cpp
Commit 72009854a7c4ddb6758552e58d1be9e0ca3e37d2 by wuyanjun110
fix: 远程单次直线步进END后不退出循环重回MOVE

UpdateFSMState 每周期被调两次(pilot_update 一次, 失败 stage 经
ResetSuccessorTasks 仍强制执行的 MOTION_FSM_TASK 一次), fsm_interface
的 last_motion_sub_state_type 被第二次快照拍平, REMOTE_MOVE->REMOTE_END
边沿被吞, is_need_increase_remote_idx_ 永不置位, cur_remote_idx_ 不推进,
finishReqRemoteCtrl 不触发, REMOTE_END 停 remote_align_stop_sec 后经
RemoteInit 无条件重回 REMOTE_MOVE 直至超时.

prepare 改为自持上周期 remote 子状态判 END 进入沿, 不再依赖
fsm_interface 的 last_*; REMOTE_STOP 跳过判断同步替换恢复原语义.
The file was modifieddata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hpp
The file was modifiedplan/prepare/prepare_status.cpp
The file was modifiedplan/prepare/prepare_status.hpp
Commit a5afde418b758301551f63748ff5a58175d144cb by wuyanjun110
fix: park子状态机收普通任务卡死PARK_MOVE无法退出

bulk分支(FSM_TYPE_B)在PARK_LOCK收到无散货途径点的普通任务时,
Lock2Init/Init2Move仅凭routing标志放行进入PARK_MOVE, 而该态下
Move2Adjust(需bulk_in点)与Park_Bulk2Travel(需bulk_out点)恒假,
只能靠再次取消任务解锁(实车卡死近4小时):
- Lock2Init/Init2Move补散货途径点检查, 普通任务不再进入死区
- Park_Bulk2Travel新增逃生: 新任务无任何散货途径点且地图可用时退回TRAVEL

同修停车场分支(FSM_TYPE_A)同类隐患: Park_Park2Travel对PARK_MOVE
放行新routing逃生, 但带双卡死判据(switch恒KEEP+停留超20s),
正常进位途中刷新停车任务不受影响

另补EnumType2String缺失的E_TASK_FSM/E_MOTION_FSM映射,
日志不再把正常事件误打成E_NO_STATE
The file was modifieddata/app/fsm/task_fsm/task_fsm.cpp
The file was modifieddata/app/fsm/task_command_type.cpp
The file was modifieddata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cpp
Commit 42056f95c73509f3f58d61530894685e20a604d4 by wuyanjun110
fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级

- Path::GetIndexFromS/GetSmoothPoint 空路径不再fatal, 返回默认值并记ERROR日志
- PncMapPath lane segment构造函数点数不足2时清空path_points_留无效path,
  下游经IsAvailable安全降级, 不再CHECK崩进程
The file was modifieddata/map/pnc_map/pnc_map_path.cpp
The file was modifieddata/common/path.cpp
Commit 511e2bf053a7c68b76ae177ef28fd9cf9e4ae056 by wuyanjun110
fix: Path/DiscretizedPath 空与单点场景既有隐患修复

- Path::Reset 补清 length_/num_sample_points_, 防复位后陈旧值残留
- path.hpp 给 num_sample_points_/length_ 加类内默认值, 防默认构造读未初始化垃圾
- Path::InitPoints 单点路径不再越界访问 path_pts_[-1]
- DiscretizedPath::GetPathPtFromS/GetPathPtIdxFromS 空容器 front() UB 改空判降级,
  Evaluate/EvaluateReverse 的 CHECK(!empty()) fatal 同步改 LOG(ERROR)+默认点
The file was modifieddata/common/path.cpp
The file was modifieddata/common/path_point.cpp
The file was modifieddata/common/path.hpp
Commit 8188b089eb1d8bd51678d2586c3c21c9251f160d by liuhongshuo
fix: 速度置信度的引入收敛到只影响行人靠近预警功能
The file was modifieddata/obstacle/obstacle.cpp
The file was modifieddata/obstacle/perception_obstacle.hpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
Commit f8e0b4f0d509e20cc24569fcda6a4e14fb765d12 by liuhongshuo
fix: 格式漂移更改  配置参数更改
The file was modifiedsink/ros_sink_chassis_ctrl.cpp
The file was modifieddata/obstacle/obstacle.hpp
The file was modifiedtasks/deciders/other_decider/alarm_decider.hpp
The file was modifieddata/config/cfg_region.hpp
The file was modifieddata/config/cfg_func_sw.cpp
The file was modifieddata/obstacle/obstacle_decider_attr.cpp
The file was modifieddata/config/cfg_func_sw.hpp
The file was modifieddata/obstacle/obstacle_decider_attr.hpp
The file was modifiedCMakeLists.txt
The file was modifiedtasks/deciders/other_decider/alarm_decider.cpp
Commit 72d3639900cb42c6d339f7bf69736eb8099f709b by chenran
fix: revering in straight line
The file was modifieddata/plan/start_point_data.cpp
Commit abc6a188c290e2ade83d974d1c3bdedd7b295b70 by chenran
fix: is_in_straight_lane = false during park state
The file was modifiedplan/prepare/prepare_status.cpp