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新增障碍物置信度评分行人靠近报警edittasks/deciders/other_decider/alarm_decider.hppeditsink/ros_sink_chassis_ctrl.cppeditdata/obstacle/obstacle_decider_attr.hppeditdata/obstacle/perception_obstacle.hppeditscenarios/stage.cppeditdata/config/cfg_region.hppeditCMakeLists.txteditdata/config/cfg_region.cppeditsink/ros_sink_chassis_ctrl.hppeditplan/prepare/prepare_objs.cppeditdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.cppedittasks/deciders/other_decider/alarm_decider.cppeditdata/config/cfg_func_sw.cppeditdata/obstacle/obstacle.hppeditdata/obstacle/obstacle.cppdata/config/cfg_func_sw.cppsink/ros_sink_chassis_ctrl.cppdata/config/cfg_func_sw.hppae82cd70389db148891fd4f0f8354dae82623fb41782444631000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 预警时间间隔参数化 2026-06-26 11:30:31 +0800ae82cd70389db148891fd4f0f8354dae82623fb4feat: 预警时间间隔参数化editdata/config/cfg_func_sw.hppeditsink/ros_sink_chassis_ctrl.cppeditdata/config/cfg_func_sw.cppdata/config/cfg_region.cpp02eef33286fd2c1fd15c3630295167bbdca793081783330983000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: 合并冲突 2026-07-06 17:43:03 +080002eef33286fd2c1fd15c3630295167bbdca79308feat: 合并冲突editdata/config/cfg_region.cppdata/obstacle/perception_obstacle.hppdata/obstacle/obstacle.hppdata/config/cfg_func_sw.hppdata/config/cfg_region.cppdata/config/cfg_func_sw.cppCMakeLists.txtdata/obstacle/obstacle.cppscenarios/stage.cppsink/ros_sink_chassis_ctrl.hppplan/prepare/prepare_objs.cppdata/config/cfg_region.hppdata/obstacle/obstacle_decider_attr.cpptasks/deciders/other_decider/alarm_decider.hppdata/obstacle/obstacle_decider_attr.hppsink/ros_sink_chassis_ctrl.cpptasks/deciders/other_decider/alarm_decider.cpp067a789e161bce5878bb983eebdd5bad63d667651783391073000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 新增障碍物置信度评分行人靠近报警 2026-07-07 10:24:33 +0800067a789e161bce5878bb983eebdd5bad63d66765feat: 新增障碍物置信度评分行人靠近报警editdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle.cppeditdata/obstacle/perception_obstacle.hppeditdata/obstacle/obstacle_decider_attr.hppeditsink/ros_sink_chassis_ctrl.cppeditplan/prepare/prepare_objs.cppedittasks/deciders/other_decider/alarm_decider.hppeditCMakeLists.txteditdata/config/cfg_region.hppeditsink/ros_sink_chassis_ctrl.hppedittasks/deciders/other_decider/alarm_decider.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/obstacle/obstacle.hppeditdata/config/cfg_region.cppeditscenarios/stage.cppeditdata/config/cfg_func_sw.cppdata/config/cfg_func_sw.cppsink/ros_sink_chassis_ctrl.cppdata/config/cfg_func_sw.hppaefad2d72b50d177f73b39b6f3f88b95699e6be71783391073000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 预警时间间隔参数化 2026-07-07 10:24:33 +0800aefad2d72b50d177f73b39b6f3f88b95699e6be7feat: 预警时间间隔参数化editdata/config/cfg_func_sw.cppeditdata/config/cfg_func_sw.hppeditsink/ros_sink_chassis_ctrl.cppdata/config/cfg_region.cppf694b82452efc96843fefb947d35b12040e750071783391077000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfeat: 合并冲突 2026-07-07 10:24:37 +0800f694b82452efc96843fefb947d35b12040e75007feat: 合并冲突editdata/config/cfg_region.cpptasks/deciders/long_decider/constrain_decider.cppdata/app/cmd/cmd_dead_lock.cppdata/app/cmd/cmd_dead_lock_force_park.cppf17dd3022e07cf16f5602cd595b4e53c639163b31784097871000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofeat: DeadLock新的停止点在1m以内车辆不启动 2026-07-15 14:44:31 +0800f17dd3022e07cf16f5602cd595b4e53c639163b3feat: DeadLock新的停止点在1m以内车辆不启动editdata/app/cmd/cmd_dead_lock.cppedittasks/deciders/long_decider/constrain_decider.cppeditdata/app/cmd/cmd_dead_lock_force_park.cpptasks/deciders/long_decider/constrain_decider.cppf1f7bca7f335e3bb4f3e97eb16477ece7ac415091784104883000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: DeadLock 使用历史纵向约束判断近距离停车锁存状态 2026-07-15 16:41:23 +0800f1f7bca7f335e3bb4f3e97eb16477ece7ac41509fix: DeadLock 使用历史纵向约束判断近距离停车锁存状态edittasks/deciders/long_decider/constrain_decider.cppdata/map/envelop/map_envelops.cppcf9bf06e62975a44420683b8d68b1a1c38d24ebb1784270763000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-17 14:46:03 +0800cf9bf06e62975a44420683b8d68b1a1c38d24ebbfix: 恢复union region异步计算, latch结果消费即释放治理内存驻留editdata/map/envelop/map_envelops.cppreplayer/logic.cpp49da4fba25e8910c876f430f1f1b28a8e67e0f631784270774000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comperf: 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 2026-07-17 14:46:14 +080049da4fba25e8910c876f430f1f1b28a8e67e0f63perf: 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editreplayer/logic.cppplan/prepare/prepare_status.hppdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppplan/prepare/prepare_status.cpp72009854a7c4ddb6758552e58d1be9e0ca3e37d21784270779000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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. 2026-07-17 14:46:19 +080072009854a7c4ddb6758552e58d1be9e0ca3e37d2fix: 远程单次直线步进END后不退出循环重回MOVEeditdata/app/fsm/motion_fsm/motion_remote_fsm/motion_remote_state.hppeditplan/prepare/prepare_status.cppeditplan/prepare/prepare_status.hppdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/app/fsm/task_fsm/task_fsm.cppdata/app/fsm/task_command_type.cppa5afde418b758301551f63748ff5a58175d144cb1784270859000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-17 14:47:39 +0800a5afde418b758301551f63748ff5a58175d144cbfix: park子状态机收普通任务卡死PARK_MOVE无法退出editdata/app/fsm/task_fsm/task_fsm.cppeditdata/app/fsm/task_command_type.cppeditdata/app/fsm/task_fsm/task_park_fsm/park_fsm_transition/bulk_transition.cppdata/map/pnc_map/pnc_map_path.cppdata/common/path.cpp42056f95c73509f3f58d61530894685e20a604d41784499007000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-20 06:10:07 +080042056f95c73509f3f58d61530894685e20a604d4fix: 空Path取点断言与退化lane segment构造CHECK线上崩溃, 改优雅降级editdata/map/pnc_map/pnc_map_path.cppeditdata/common/path.cppdata/common/path.hppdata/common/path.cppdata/common/path_point.cpp511e2bf053a7c68b76ae177ef28fd9cf9e4ae0561784499014000http://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110wuyanjun110@126.comfix: 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 2026-07-20 06:10:14 +0800511e2bf053a7c68b76ae177ef28fd9cf9e4ae056fix: Path/DiscretizedPath 空与单点场景既有隐患修复editdata/common/path.cppeditdata/common/path_point.cppeditdata/common/path.hppdata/obstacle/obstacle.cppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hppdata/obstacle/perception_obstacle.hpp8188b089eb1d8bd51678d2586c3c21c9251f160d1784528782000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 速度置信度的引入收敛到只影响行人靠近预警功能 2026-07-20 14:26:22 +08008188b089eb1d8bd51678d2586c3c21c9251f160dfix: 速度置信度的引入收敛到只影响行人靠近预警功能editdata/obstacle/obstacle.cppeditdata/obstacle/perception_obstacle.hppeditdata/obstacle/obstacle.hppeditdata/obstacle/obstacle_decider_attr.cppdata/config/cfg_region.hppdata/obstacle/obstacle_decider_attr.cppdata/obstacle/obstacle.hpptasks/deciders/other_decider/alarm_decider.hppdata/config/cfg_func_sw.hppdata/config/cfg_func_sw.cppdata/obstacle/obstacle_decider_attr.hppsink/ros_sink_chassis_ctrl.cppCMakeLists.txttasks/deciders/other_decider/alarm_decider.cppf8e0b4f0d509e20cc24569fcda6a4e14fb765d121784542435000http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuoliuhongshuofix: 格式漂移更改配置参数更改 2026-07-20 18:13:55 +0800f8e0b4f0d509e20cc24569fcda6a4e14fb765d12fix: 格式漂移更改配置参数更改editsink/ros_sink_chassis_ctrl.cppeditdata/obstacle/obstacle.hppedittasks/deciders/other_decider/alarm_decider.hppeditdata/config/cfg_region.hppeditdata/config/cfg_func_sw.cppeditdata/obstacle/obstacle_decider_attr.cppeditdata/config/cfg_func_sw.hppeditdata/obstacle/obstacle_decider_attr.hppeditCMakeLists.txtedittasks/deciders/other_decider/alarm_decider.cppdata/plan/start_point_data.cpp72d3639900cb42c6d339f7bf69736eb8099f709b1784600390000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: revering in straight line 2026-07-21 10:19:50 +080072d3639900cb42c6d339f7bf69736eb8099f709bfix: revering in straight lineeditdata/plan/start_point_data.cppplan/prepare/prepare_status.cppabc6a188c290e2ade83d974d1c3bdedd7b295b701784603025000http://159.27.114.184:8080/jenkins/user/chenranchenranchenran@senior.autofix: is_in_straight_lane = false during park state 2026-07-21 11:03:45 +0800abc6a188c290e2ade83d974d1c3bdedd7b295b70fix: is_in_straight_lane = false during park stateeditplan/prepare/prepare_status.cppgithttp://159.27.114.184:8080/jenkins/user/wuyanjun110wuyanjun110http://159.27.114.184:8080/jenkins/user/liuhongshuoliuhongshuohttp://159.27.114.184:8080/jenkins/user/chenranchenran252http://159.27.114.184:8080/jenkins/view/x86/job/telediagnostic/252/250http://159.27.114.184:8080/jenkins/view/x86/job/telediagnostic/250/